CN108137074A - The estimation of wheeled vehicle - Google Patents
The estimation of wheeled vehicle Download PDFInfo
- Publication number
- CN108137074A CN108137074A CN201680051260.9A CN201680051260A CN108137074A CN 108137074 A CN108137074 A CN 108137074A CN 201680051260 A CN201680051260 A CN 201680051260A CN 108137074 A CN108137074 A CN 108137074A
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- CN
- China
- Prior art keywords
- cart
- wheel
- pushing
- magnetometer
- navigation system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
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- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/207—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles with respect to certain areas, e.g. forbidden or allowed areas with possible alerting when inside or outside boundaries
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- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G01S5/0268—Hybrid positioning by deriving positions from different combinations of signals or of estimated positions in a single positioning system
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- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
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- G—PHYSICS
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
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- Navigation (AREA)
Abstract
Disclose for position loose impediment such as cart (for example, shopping cart) system and method example.This system and method can estimate the current location of the loose impediment using dead reckoning.Disclose for improve location estimation accuracy various technologies, compensation including the various error sources used to being related to magnetometer and accelerometer and vibration analysis is used to carry out the derived wheel speed of rotation.It also discloses and is cooperateed with or the various technologies instead of dead reckoning using the characteristic of working environment, the characteristic including environment such as ground texture, the availability of the signal from radio frequency (RF) transmitter including accurate stationary source.This system and method can be applied in indoor and outdoor setting and retail or warehouse setting.
Description
Cross reference to related applications
This application claims entitled " the ESTIMATING MOTION OF WHEELED that September in 2015 is submitted on the 4th
The U.S. Patent application No.62/214 of OBJECTS (movement for estimating wheeled object) ", the equity of 561 priority are led to herein
Reference is crossed to be incorporated herein entire contents.
Background technology
Technical field
The disclosure generally relates to the system and method for positioning loose impediment, and relates more specifically to using boat position
Skill of deduction and calculation positions the system and method for loose impediment such as wheeled vehicle.
Description of Related Art
The position of the object in tracing area has been determined using various methods.For example, radio frequency (RF) transmitter or label
Can be attached on object, and one or more of tracing area receiver can surveillance tag transmission with determine object
Body position.However, if tracing area is very big, this method is unfavorable, and many receivers, Huo Zheru are installed in this requirement
Fruit tracing area includes the structure for weakening label transmission, and such method is unfavorable.Other methods are defended using worldwide navigation
Star system (GNSS, for example, global positioning system (GPS)) determines position.However, if GNSS signal is obstructed or if is defended
The visibility of star interrupts, then GNSS methods may fail.Moreover, both GNSS system and RF labels and receiver system may be used
Energy is expensive and is difficult to carry out.
Invention content
Disclose for position loose impediment such as cart (for example, shopping cart) system and method example.This
Kind system and method can estimate the current location of the loose impediment using dead reckoning.It discloses to improve position
The various technologies of the accuracy of estimation are put, including the compensation of various error sources used to being related to magnetometer and accelerometer,
And carry out the derived wheel speed of rotation using vibration analysis.Also disclose using the characteristic of working environment come cooperate with or instead of navigate position
The various technologies of skill of deduction and calculation, the characteristic including environment such as ground texture are sent out from the radio frequency (RF) including accurately repairing source
The availability of the signal of emitter.This system and method can be applied in indoor and outdoor setting and retail or warehouse setting.
The details of one or more embodiments of theme described in this specification are in following attached drawing and description
It is stated.By specification, drawings and the claims, other features, aspect and advantage will become obvious.This hair
Bright content and the range described in detail below for being all not intended to be limiting or limiting present subject matter.
Description of the drawings
Fig. 1 is the perspective view of retail shop and related property, shows the navigation of the part as cart containment system
The component of system；
Fig. 2 shows the shopping carts with navigation system and one or more intelligent wheels；
Fig. 3 shows the component of the embodiment of a cart containment system；
Fig. 4 shows the component of the embodiment of an intelligent positioning system；
Fig. 5 shows the state transition graph of the embodiment of a dead reckoning system to cooperate with smart lock fixed wheel；
Fig. 6 A and Fig. 6 B are the update cycles of the embodiment of a dead reckoning system with the intelligent wheel of rotation detection
Flow chart；
Fig. 7 shows dead reckoning scene；
Fig. 8 shows the example chart of the acceleration measured on shopping cart and time relationship；
Fig. 9 shows that a kind of exemplary wheel speed of rotation measured under same case as shown in Figure 8 is closed with the time
System；
Figure 10 A show the power spectral density of the data shown in Fig. 9 and the relationship of frequency；
Figure 10 B show the different range of identical power spectral density and the relationship of frequency data；
Figure 11 A and Figure 11 B show the normal acceleration measured on the shopping cart rolled on concrete surface and time
Relationship；
Figure 12 A show a kind of exemplary method for course estimation using dead reckoning system；
Figure 12 B show a kind of exemplary method for location estimation using dead reckoning system；
Figure 13 shows that one kind is under the help of the scene for receiving the dead reckoning that signal determines indicator (RSSI)；
Figure 14 shows the example of the plan view of a shopping cart containment system installation；
Figure 15 A and Figure 15 B show two exemplary components of dead reckoning system；
Figure 16 shows the embodiment of an intelligent positioning system with display；
Figure 17 shows the side views of the embodiment of an intelligent positioning system；
Figure 18 shows a kind of shopping cart of tool there are four the wheel on different motion direction.
Throughout the drawings, reference numeral can be reused to indicate the correspondence between reference element.It provides
Attached drawing is to illustrate example embodiment described herein and be not intended to be limited to the scope of the present disclosure.
Specific embodiment
I. it summarizes
It usually needs to track its position when object moves in entire tracing area.For example, facility such as retail shop,
Hospital, airport or warehouse may want to the position of monitoring object such as vehicle, cart, means of transport, the vehicles.For example,
The facility can improve using and fetching to object using object location information come the movement that tracks inventory, and identification cluster is lined up
Or it travel pattern and/or prevents the dislocation of object, lose or stolen.In one example, retail shop may want to tracking purchase
The position of object vehicle is removed or is stolen or ensure that shopping cart is exiting quotient from bounded domain such as parking lot to prevent thrust vehicle
Checkout lanes are passed through before shop.In another example, a facility may want to measure by using wheeled object
The position of various terrestrial references is to draw the map of the building structure of building.
It may need to estimate the movement locus of wheeled object and/or current location, such as logical via dead reckoning (DR)
It crosses and integrates object estimated course over time and longitudinal stroke (for example, distance or speed).In some cases, it can be possible to it needs
It will be by directly counting the rotation of wheel (for example, being counted with hall effect sensor, rotary encoder or ultrasonic wave tuning fork
Number, wherein related sensor can power-efficient and/or low delay be connected to perform dead reckoning calculate processing node)
To estimate longitudinal stroke.In some cases, it can be possible to it needs to estimate longitudinal stroke by other technologies.Wheeled object may be
(for example, Manual-pushing) wheeled object of non-motorised, including but not limited to, cart is (for example, shopping cart, warehouse vehicle, luggage
Vehicle or baggage car, industrial cart or small handcart, pharmacy cart or hospital's cart etc.), wheelchair, hospital bed, perambulator, walking
Device etc..
Therefore, the various embodiments of system and method described herein provide estimated by dead reckoning it is wheeled
The movement of object.Some embodiments can estimate the speed of wheeled object by long-range rotation detection or acceleration sensing,
The analysis of rumble spectrum moved on surface (for example, floor, parking lot etc.) to wheeled object is combined in some cases.One
The low-power mechanism that a little embodiments can be rotated by calculating wheel, such as the ultrasonic wave tuning fork in wheel, to estimate wheeled object
The speed of body.Some embodiments can estimate the current location of wheeled object by low power RF technology.Such embodiment
Specific application can be found to go along with sb. to guard him the shopping cart in retail environment, and be not only restricted to these applications.
Various example embodiments and embodiment is described below.These embodiments and embodiment are intended to illustrate disclosure
Range, and be not intended to be limited to.
II. exemplary scene
United States Patent (USP) No.8,046,160 (Navigation Systems and Methods for Wheeled
The Objects navigation system and method for wheeled object (be used for)) in can find and the dead reckoning of problem is gone along with sb. to guard him to shopping cart lead
The example embodiment of boat, the complete disclosure of the patent are incorporated herein by reference by its entirety.
For illustrative purposes, the sample scenario that the embodiment of navigation system and method disclosed herein can use will
It is presented with reference to figure 1.These sample scenarios are intended to help to understand embodiment, and are not intended to be limited to disclosed and being advocated
The range of invention.
In sample scenario shown in Fig. 1, navigation system as lose prevention system part by 110 institute of retail shop
It uses, it is stolen from tracing area 114 to reduce shopping cart 122.Tracing area 114 can include for example adjacent to shop 110 stopping
The part in parking lot.The purpose for losing prevention system is to prevent or at least reduce the boundary that cart 122 crosses parking lot 114
The unauthorized transport of (or circumference) 118.In the embodiment for losing prevention system, each cart 122 can include antitheft
System, the mechanism which includes such as alarm or cart 122 is forbidden to move.Can by cart 122 at least
One wheel offer is configured to brake or locks the arrestment mechanism of the wheel cart to be forbidden to move, which is, for example,
The United States Patent (USP) of entitled " ANTI-THEFT VEHICLE SYSTEM (the Anti-theft vehicle system) " of the publication on the 20th of September in 2005
No.6, the arrestment mechanism disclosed in 945,366, the entire disclosure are incorporated herein by reference by its entirety.In other realities
It applies in example, cart movement can rotate inhibitor by other wheel drags, wheel lock or wheel and be prohibited.
It loses in order to prevent, if cart 122 is moved across parking field border 118, burglary-resisting system is activated (example
Such as, alarm and/or brake are triggered).In some loss prevention systems, burglary-resisting system is detected in cart 122 from quilt
It is activated when being placed on the signal of the external emitters near parking field border 118.For example, signal can be from being embedded in boundary
Very low frequency (VLF) electromagnetic signal that electric wire at 118 is transmitted, such as the entitled " ANTI- of publication on October 3rd, 2000
The United States Patent (USP) No.6 of THEFT VEHICLE SYSTEM (Anti-theft vehicle system) ", it is all public described in 127,927
Content is opened to be incorporated herein by reference by its entirety.This loss prevention system needs to install external component (for example, embedding electric wire).
Navigation system disclosed herein can be advantageously combined loss prevention system and be used, because of navigation system energy
It is enough to be independently determined the position of cart 122.If navigation system determines the position of cart 122 in parking field border 118
Outside, then burglary-resisting system may be activated.In one embodiment, navigation system starts when cart leaves store exit 126
Monitor trolley position.Initial trolley position be arranged to outlet position, and navigation system in cart 122 in parking lot
Its position is updated when being moved in 114.In some embodiments, navigation system has the position of parking field border 118, such as conduct
One group of coordinate.By the way that the current location of cart 122 and the position on boundary 118 are compared, which can determine cart 122
Whether within parking lot 114.If navigation system determines that cart 122 is being moved across in parking field border 118, navigating is
System can activate the burglary-resisting system of cart.
In other embodiments, navigation system to central processing unit or controller 138 convey cart 122 position or other
Information, this determines whether cart 122 has left whether parking lot 114 and burglary-resisting system should be activated.In certain implementations
In example, cart 122 includes enabling appropriate information in cart 122 and central controller 138 (or transceiver of other adaptations)
Between the intercommunication system conveyed.United States Patent (USP) No.8,463,540 (Two-Way Communication System for
Tracking Locations and Statuses of Wheeled Vehicles (for track wheel position and
The intercommunication system of state)) it is further discussed the intercommunication system for being suitable for being used together with navigation system, whole
Disclosure is incorporated herein by reference by its entirety.
Other equipment and component can be used advantageously by the retail shop 110 in this sample scenario.For example, one or
Multiple marker 130a-130c can be disposed at the different location in parking lot 114 to serve as reference position, terrestrial reference or letter
Mark.Marker 130a-130c can mark or indicate such as store exit 126 (for example, marker 130a), parking lot 114
Circumference (for example, marker 130c) and/or the position of other appropriate reference positions (for example, marker 130b).In various realities
It applies in example, information is communicated to navigation system by marker 130a-130c for example, by magnetic methods or other electromagnetic methods.Navigation
System, which can use, carrys out the information of self-marker 130a-130c to reset the position of cart (for example, reducing the dead reckoning of accumulation
Error), determine parking field border 118 nearby or for other purposes.In some embodiments, one or more markers
(such as marker 130c) can be disposed near the position of inlet/outlet 142 in parking lot 114.
In certain embodiments, marker 130a-130c is configured as instruction reference direction or other information.For example, mark
Note object 130a can be placed on outlet 126 at and be directed to so that its reference direction outwardly, towards parking lot
114.Navigation system can detect reference direction and determine whether cart enters or leave shop 110.Similarly, marker
130c can indicate the outward direction at the circumference 118 in parking lot 114.In some embodiments, some or all of label
The navigation system that object 130a-130c can be configured as discussed further below conveys other kinds of information.
In one embodiment, one or more transmitters 134 are disposed in entire parking lot 114, and are configured
Information is transmitted for the navigation system into cart 122.In embodiment, transmitter 134 also receives information (for example, it is transmitting-receiving
Device).In various embodiments, marker 130a-130c (for example, transmitter 134 and/or access point 136) via unidirectional (to pushing away
Vehicle or from cart) or two-way (to cart and from cart) communication protocol communicate with cart 122.For example, marker 130, transmitter
134 and/or access point 136 can be configured as and communicated using electromagnetic signal with cart 122.These signals can include
Magnetic signal and/or radio frequency (RF) signal or VLF signals.As used herein, RF signals include have about 300GHz with
Under frequency electromagnetic signal, VLF signals include with about below 20kHz frequency RF signals.
In other embodiments, one or more access points (AP) 136 are used to create the two-way communication chain with cart 122
It connects.In Fig. 1, access point 136 is illustrated as being placed on 126 top of outlet in shop 110, this is beneficial to allow AP entire with being located at
Cart 122 in parking lot 114 communicates.In other embodiments, more than one AP can be used, and AP can
In entire tracing area.Access point 136 can communicate with the transceiver (for example, RF transceivers) in cart 122, the transmitting-receiving
Device is connected to navigation system (and/or other component) for retrieving, exchanging and/or generating cart status information, including referring to
Show or reflect the information of trolley position.The cart status information type that can be retrieved and monitor includes, for example, burglary-resisting system is
It is no to be activated (for example, whether wheel drag is locked or unlocks)；Whether cart 122 moves and moves in which direction
It is dynamic；The average speed of wheel；Whether cart 122 has detected that certain types of position coherent signal, such as VLF signals, electronics
Alarm system for guarding against theft (EAS) signal, RF signals or magnetic signal；Whether cart slides；The power grade of cart；And each unit of cart
The quantity of locking/release period that time is undergone.Access point 136 also is able to exchange with navigation system and the position of circumference 118
Related information.In some embodiments, cart 122 is measured using received signal strength indicator device (RSSI) from access point
The intensity of 136 signals received, whether to assist in from cart 122 to the distance of access point 136 and cart to shop
It moves in 110 or separate shops 110.In other embodiments, access point 136 measures the letter received from cart 122 using RSSI
Number intensity, with determine cart 122 position and movement.
Navigation system can by shop 110 using come for it is pre- it is anti-lost except or different from pre- anti-lost purpose.
In some embodiments, retail shop 110 may want to collect the relevant information in path with the position and use of cart 122.
For example, retail shop may want to determine customer in parking lot 114 where leave cart 122 and fetch behaviour to improve cart
Make.In other embodiments, navigation system can fetch unit communication with the cart of other equipment such as mechanization.
Although sample scenario is by reference to the loss of the shopping cart 122 in the parking lot 114 for 110 outside of retail shop
Prevention system is described, but in some embodiments, and navigation system is configured to determine that cart 122 in shop 110
Position.For example, the system may be used to determine whether cart 122 has already passed through checkout lanes or whether cart 122 has worn long
Cross selected aisle.In addition, navigation system can be used to tracking trolley position to collect with cart in the inside of shop 110 or outer
Cluster at certain positions in face is lined up related information.Many purposes are possible, and sample herein to navigation system
The discussion of example scene is not intended to restricted.
In some embodiments, navigation system is disposed in cart 122 or on cart 122, and in other embodiments,
Some functions of navigation system are performed by the component (for example, central controller 138) far from cart 122.In embodiment,
Navigation system is sized as to be suitble in the hand handle of the wheel of cart 122, the frame of cart or cart.It is certain this
In kind embodiment, wheel is shopping cart wheel (front-wheel or trailing wheel).In some embodiments, wheel is straight with about five inches
Diameter, and in other embodiments, the diameter of cart is less than about five inches or greater than about five inches.In other embodiments, it navigates
The part of system can be disposed in (or multiple) wheel for the wheel of object, and other parts can be disposed in and push away
Other positions in vehicle 122, for example, in the vehicle wheel component (for example, universal wheel or fork) that wheel is attached to cart 122 or
In other positions in cart 122 or on cart 122 (for example, in handlebar or frame).
Navigation system can power to it by various power supplys.For example, navigation system can use electrochmical power source (for example, one
Secondary property battery or rechargeable battery), photo-voltaic power supply (for example, solar cell), fuel cell, machine power power supply or any
Other power adapters.In some embodiments, the part of the rotation function of wheel by being stored as the power generation of electric energy by navigation system
Machine is powered, such as United States Patent (USP) No.8,820,447 (Power Generation Systems and Methods for
The Wheeled Objects electricity generation system and method for wheeled object (be used for)) disclosed in turbine generator, in entire disclosure
Appearance is incorporated herein by reference by its entirety.
Power supply can be integrated in or far from navigation system.For example, in the embodiment being disposed in wheel in system, power supply
It can be disposed in wheel and/or in cart 122 or on cart 122 (for example, in vehicle wheel component, handlebar or frame).
In some embodiments, such as those are conducive to lose in the embodiment of prevention system, and navigation system only has been moved off in cart 122
It is activated during shop 110, to prevent power attenuation when cart 122 is located in shop 110, the cart in shop 110
Stolen possibility smaller.
The embodiment of navigation system and method can be used in other environment and background, such as warehouse, industrial premises, is done
Public building, airport, hospital or other facilities.Extraly, it is not limited to make together with shopping cart in the embodiment of navigation system and method
With it is intended that being used together with any other loose impediment and particularly with any other wheeled object.It is begged for above
Many modifications of the sample scenario of opinion may be without departing from the range of principle disclosed herein.
III. dead reckoning system
A. the basic conception of dead reckoning
Dead reckoning system can be made to information, direction or the course of the estimation offer starting position of the current location of object
For the function of the function of time and the speed of traveling or the distance of traveling as the time.This will be by quoting the U.S. being merged
It is described further in state patent No.8,046,160.
Fig. 7 shows simple dead reckoning scene map 700.Object is at the position 705 and with 45° angle (0 ° of finger
North, angle measurement is incremented by clockwise) and 1.4m/s travelings, in-position 710 after one second.Then object is with hexagonal angle
It advances with 1m/s, in-position 715 after one second.Finally, object is advanced with 15 ° of angles and 1m/s, in-position after one second
720.Dead reckoning can calculate current location (for example, 720) from initial position (for example, 705), by being opened from initial position
The integration (in continuous-time domain) of the speed (for example, direction and speed) of beginning or summation are (in Disgrete Time Domain).
Dead reckoning can be carried for example by the magnetometer and wheel revolution meter by being attached to wheel type mobile object
The data of confession perform.Magnetometer provides the data about course or direction.Revolution meter offer can derive speed
Data.The instantaneous course of wheeled object can be via two axis of the known vector component in the earth's magnetic field along the object present position
Or three axle magnetometer and obtain.Magnetometer can be installed in the main body for treating tracked object and play the work of compass
With.Accelerometer can be used for being adjusted when the surface that wheeled object is advanced is not horizontal.
The longitudinal velocity of wheeled object can be estimated by measuring the speed of rotation of one or more of wheel wheel.
The speed can be calculated as the speed of rotation and be multiplied by the perimeter of wheel (for example, the angular speed of the wheel of interior rotation per unit time).
It can use to measure the multiple technologies that the increment of wheel or axis rotates, such as hall effect sensor and shaft-position encoder.
Such technology is described by quoting in the United States Patent (USP) No.8,046,160 being merged.
B. example shopping cart
Fig. 2 shows a kind of features of the example shopping cart 205 of the feature with according to the disclosure.Shopping cart 205 includes
(it can brake, lock or forbid the rotation of wheel to the antitheft wheel 215 of intelligent positioning system 210, one or more mounted on handle
Turn) and one or more optional ultrasonic activation enhancing wheels 220.One or more antitheft wheels 215 can be intelligent locking
Wheel, such as the wheel with sensor, communication system and/or processor in addition to locking mechanism.Navigation system and burglary-resisting system
Function can be allocated between intelligent positioning system 210 and smart lock fixed wheel 215.For example, 210 He of intelligent positioning system
One or both in smart lock fixed wheel 215, which can have, leaves/entry event detectability；The anti-theft feature energy of wheel lock
Enough it is located in smart lock fixed wheel 215, and the anti-theft feature of user's warning can be located in intelligent positioning system 210.Hereinafter retouch
These components are stated.Fig. 2 shows the coordinate system 230 that can be used for navigation calculating, wherein x-axis is in cart movement forward
On direction, y-axis perpendicular to x-axis and in the horizontal direction, be directed toward vertically upward by z-axis.
In the disclosure, term " user " refers to the individual that specific cart is used in specific time.Term " customer " refers to group
It knits and wherein by the individual of proper authorization, the specific installation of shopping cart containment system can be possessed, and can determine purchase
The strategy that the specific installation of object curb protecting system is implemented.For example, customer can be need to navigate with shopping cart containment system zero
Sell shop, and user can be the customer to do shopping in retail shop or fetch the shop of shopping cart (for example, from parking lot) and employ
Member.
C. example intelligent positioning system/smart lock fixed wheel embodiment
Fig. 3 shows the part set 300 of example cart (for example, shopping cart) tracking system.The exemplary components collection include with
Lower component：(1) intelligent positioning system 210；(2) smart lock fixed wheel 215；(3) fixation associated with store exit and/or entrance
Configuration 385；(4) system configuration and control device 390；(5) RF beacons or RF configurations 395.
Intelligent positioning system 210 include (1) sensor element 315, be used to determine cart course and speed (for example,
Magnetometer and/or accelerometer) and optionally it is determined that the temperature (for example, temperature sensor) of system；(2) optional sensor
320, it provides (for example, sensor keeps off wheel) of the data that can be inferred that the wheel speed of rotation；For example, vibrating sensing
Device；(3) processor and memory 325；(4) communication system 330, (for example, being linked via RF) and smart lock fixed wheel 315 are
Under unified central planning put communicates with control device 390 and/or RF beacons or other RF configuration 395；(5) optional detector 310, by with
Determining cart is set to by the exit/entry in shop (leaving/entry event), and in some embodiments, determines fortune
Dynamic is to leave shop or into shop.In some embodiments, the circuit in wheel performs the actual functional capability of detection；Intelligence
Energy alignment system communicates to be obtained off/enter information with the detection circuit in wheel.Some embodiments can have inspection
It surveys device 360 and is used as secondary detector as primary detector and detector 310；(6) notice is provided to user to represent to push away
Vehicle is in warning zone and/or the indicator that will be locked 335 (for example, visual and/or audible).The indicator can wrap
Include be configured as output text or picture (for example, to user output go along with sb. to guard him boundary nearby and if wheeled object move
To going along with sb. to guard him except boundary then wheel by the warning of locking) display.Indicator can include lamp (for example, light emitting diode
(LED)), the lamp is to illuminate or flicker as the notice to user.The indicator can include audible alarm or notice.
In some embodiments, indicator includes that human understandable message such as " cart is close to boundary and will lock " can be exported
Speech synthesizer.In some this embodiments, customer and/or user can select the sound of synthesis characteristic (for example,
The language (for example, English, Spanish, German, French, Chinese etc.) of synthesis, is spoken at the gender (man or female) of voice speaker
The age (for example, youth, young adult, adult, the elderly) of person).The speech synthesizer can include special for these
One or more sound-types of each feature in sign are (for example, the language with different pitches, tone, sound area, tone color etc.
Sound).Indicator can provide selection interface (for example, drop-down menu, choice box etc.), and customer and/or user can pass through it
Select (or listening to sample) desired voice.Indicator can include the loud speaker for exporting audible notice.
Smart lock fixed wheel 215 includes (1) locking mechanism (for example, brake) 380, is configured as locking mechanism action
When forbid the rotation of wheel；(2) wheel rotation detector 375, for example, tuning fork and striker are (for example, with wheel rotating percussion sound
The part of fork)；(3) processor and memory 370；(4) communication system 365, be configured as with intelligent positioning system 210, be
Under unified central planning put communicates with control device 390 and/or RF beacons or other RF configuration 395；(5) optional detector 360, is configured
/ entry event is left, and in some embodiments for detection, detection movement is to leave shop or into shop；(6)
Optional course/universal wheel angle detector 385 is configured as the course of detection (universal wheel) wheel.
Fixed configurations 385 can be with shop outlet and entrance it is associated.The degree of closeness of these configurations can pass through intelligence
Detector that can be in alignment system or smart lock fixed wheel detects.The fixed configurations can be used for providing to intelligent positioning system
Accurate reference position (for example, for resetting the dead-reckoning position error of any accumulation).
System configuration and control device 390 are able to carry out housekeeping task and are for example configured and control.The device 390 can
It communicates with the communication system 330 in intelligent positioning system and/or the communication system 365 in smart lock fixed wheel.System configuration
Can be central processing unit or controller 138 with control device 390.
RF beacons or other RF configurations 395 can transmit RF signals and determine for into/out detection and/or exact position
Position.
Embodiment can be used to be implemented than more or fewer features/components described above.Moreover, embodiment can be with
Implemented with configuration unlike those described above, for example, rotation detector can be in one in intelligent positioning system and smart lock fixed wheel
A middle implementation, RF beacons can communicate with one in communication system 330 and 365 rather than two communication systems.In addition,
The function of component in Fig. 3 can differently be combined, rearrange, separate or be configured with shown.
Intelligent positioning system can be disposed in one or more of wheeled object position.It is for example, some or all of
Intelligent positioning system can be disposed in handle, frame, universal wheel, wheel of cart etc..Intelligence described herein is determined
Position system can be used in the application other than cart is gone along with sb. to guard him.For example, the system can be used for estimating wheeled object
Position, path or speed.Moreover, in cart goes along with sb. to guard him application, cart can include being configured as forbidding cart when being activated
Mobile one or more wheels, such as by including wheel drag.For example, when brake is activated, wheel can be locked
Fixed or limitation rotation.United States Patent (USP) No.8,046,160, No.8,558,698 and No.8,820,447, which are described, can forbid pushing away
The example of the carriage wheel of vehicle movement, the complete disclosure of all these patents are incorporated herein by reference by its entirety.
Fig. 4 shows to include being used to carry out leading for dead reckoning/or pinpoint sensor and processing element
The exemplary architecture 400 of boat system.The framework can represent intelligent positioning system 210 and smart lock fixed wheel 215.
Processor/memory cell 425 provides processing and data storage function for system.Memory can include non-easy
The property lost and/or volatile memory device.For example, nonvolatile memory can be used for being stored in power-off existing program instantly
Instruction, program data and/or state variable.
Course transmitter 405 can include three axle magnetometer.Course transmitter can extraly include gyroscope.At some
In embodiment, three axle magnetometer function can be by two separated axis magnetometers (for example, the level point for local magnetic field
Amount) and single axis magnetometers (for example, vertical component for local magnetic field) provide.In some embodiments it is possible to use two
Axis magnetometer, may be than using the embodiment of three axle magnetometer to have relatively low precision.
Accelerometer 410 can be various technologies, such as MEMS (MEMS) accelerometer, piezoelectric accelerometer
Deng.Some embodiments can use three axis accelerometer；And some other embodiments can use two axis or uniaxial acceleration
Degree meter, such as in the case that wheeled object is limited to horizontal surface in outside.
Vibrating sensor 415 can include the vibrating sensor of any adaptation, such as special by quoting the U.S. being merged
Sharp No.8, the vibrating sensor described in 558,698, interference switch, motion switch, acceleration switch etc..In some embodiments
In, vibration-sensing function is performed by accelerometer 410 and vibrating sensor 415 is not individual component.
Tilt detection component 420 is capable of providing the data that can derive the wheel speed of rotation.As above in conjunction with Fig. 3 institutes
Description, this component can be located in intelligent positioning system 210 and/or smart lock fixed wheel 215.In tilt detection component 420
In the embodiment of smart lock fixed wheel (for example, 420 are drawn to 375), the processor 325 in intelligent positioning system can lead to
It crosses communication system 330 and 365 and processor 370 communicates with tilt detection component 375.The example of one rotation detector be as
The above vibrating sensor described in the description of long-range wheel rotation sensor 320.
In some embodiments, tilt detection component 420 can utilize other technologies.For example, rotation detection wheel can be with
Including electronics/non-electronic components respectively in its non-rotating/rotating part.One this embodiment, which can have, is included in it
The rotation detection wheel of hall effect sensor in non-rotating part and the magnet in its rotating part.425 energy of processor
It is enough configured as sending the detection threshold value and/or duty ratio as parameter to rotation detection hall effect sensor 420.At some
In embodiment, which can include the effective range of the speed of wheel.Tilt detection component 420 can be to processor 425
This range filter result is based on before sending measurement result.This can advantageously reduce whole system power consumption.At some
In embodiment, tilt detection component 420 can not need to any parameter from processor 425.In some embodiments, it rotates
Detection part 420 includes tuning fork and striker.
Motion detection sensor 450 can detect the movement or movement of for example wheeled object of the object being connected to appended by it.Fortune
Dynamic detection can be used for waking up intelligent positioning system from low-power (for example, suspend mode) state.This can help to maintain intelligence
The energy expenditure of alignment system.
Be accurately positioned/dead reckoning resetting interface 435 can receive exact position positioning input.This input can be appointed
What external drive, such as RF beacons 395, inlet/outlet fixed configurations 385 etc., this can be used for significantly decreasing cart
Error in estimated location.After exact position positioning input is received, interface 435 can be wheeled according to the position reset in input
The position of object.This can remove any error that may be accumulated in location estimation by dead reckoning.Alternatively or volume
Other places, being accurately positioned interface 435 can be positioned by being different from the technology such as radius of dead reckoning or combination dead reckoning, is double
Laying-out curve, RSSI assist dead reckoning etc. to provide location estimation.
In some embodiments, reference point is (for example, in for example shown in Figure 14 and following entitled " example installation
And calibration " chapters and sections discussed in coordinate system in coordinate) position can be pre-loaded in intelligent positioning system, example
Such as in site config file.In some embodiments, reference point and intelligent positioning system are time synchronizations.In some implementations
In example, exact position positioning input can distinguish on-demand reference point and permanent datum.
On-demand reference point can be in response to the request from intelligent positioning system, to transmit such as beacon signal.Intelligence is fixed
Position system can be positioned, such as tired for being reset by dead reckoning to on-demand reference point transmission location Location Request
Long-pending error.Intelligent positioning system can be configured as needed from on-demand reference point request exact position positioning.This can
Reduce the energy expenditure of on-demand reference point and/or the intelligent positioning system related with exact position positioning, and can to this two
The installation under one or two unit energy limited situation in a unit is advantageous.Reference point can be configured as only when certain
Between interim receive position location request.Intelligent positioning system can be configured as when needed, can receiving in reference point
Request is sent during the time interval of request.Site config file can include position, listening period interval and the electricity of reference point
Source Type (for example, line powering formula or battery-operated type).These information can be merged into its hair by intelligent positioning system
It send in the determining of exact position Location Request, such as the request of the reference point to battery powered/line powering is respectively provided with
The threshold value of higher/relatively low dead reckoning evaluated error.In order to reduce two or two from more than one intelligent positioning system
The possibility of conflict between a Yi Shang position location request, intelligent positioning system are able to carry out conflict avoidance/back-off protocols, example
As pseudorandom keeps out of the way, exponential backoff.
Permanent datum can periodically broadcast its position.Intelligent positioning system can be from for example downloading to and be stored in
Broadcast time is exported in site config file in its memory.Intelligent positioning system only can activate it in the broadcast time
It is accurately positioned component.This can be reduced as the energy expenditure for receiving exact position positioning input suffered by intelligent positioning system.
The example of exact position positioning input includes radio frequency (RF) beacon of known position and is integrated with cart
GNSS receiver (for example, in intelligent positioning system).
User notifies interface 440 that can provide information, message and/or warning etc. to the user of intelligent positioning system.With
Family notice interface 440 can be including acoustic component is such as buzzer, audio-frequency amplifier and/or visualization element such as LED is shown
Show device, LCD display etc..
Configuration/state interface 445 can provide configuration information and/or status information to attendant and/or maintenance personal.
In some embodiments, configuration/state interface 445 can notify 440 shared hardware components of interface with user.In some embodiments
In, configuration/state interface 445 can remotely be realized in such as system configuration and control device 390.
Power supply unit 430 supplies electric power to intelligent positioning system.It is one or more that power supply unit 430 can include power
Battery.
Separately shown function not necessarily corresponds to the individual hardware component in realizing in exemplary architecture；For example, vibration
415 function of sensor and 450 function of motion detection sensor can be performed by single hardware component or any function can be by
Accelerometer 410 performs.
D. example dead reckoning system/smart lock fixed wheel operation
Fig. 5 shows state diagram 500 and the intelligence of the dead reckoning system logic in the embodiment of shopping cart containment system
The state diagram 560 of locking wheel logic.Dead reckoning system can be the major technique for using dead reckoning as location estimation
The example of intelligent positioning system.In Figure 5, dotted arrow is represented by the conversion of another unit starting (for example, by intelligent locking
The state conversion in the dead reckoning system started is taken turns, vice versa).Solid arrow represents turn that its own interior each unit starts
It changes.
For illustrative purposes, state transition graph 500 and 560 does not cover indoor navigation：Dead reckoning navigation process is pushing away
Vehicle starts when leaving shop and stops when cart reenters shop.It can be led in accordance with an embodiment of the present disclosure with interior
Model plane formula (for example, with reference to the chapters and sections of hereinafter entitled " indoor mode ").This embodiment can have different states to turn
Change figure.
The state diagram 500 of dead reckoning system starts from state 505, and wherein shopping cart is in an inactive mode indoors.
The purpose that state 505 is selected as original state be in order to illustrate rather than limitation.The realization of dead reckoning system can lead to
The state diagram from another operating status is crossed to work.For the sensor such as 310 of exit/entry/restraining line detection
The presence of outlet marker can be monitored.Until sensor detects exit marking object, dead reckoning system can be maintained at shape
State 505.After sensor detects exit marking object, dead reckoning system can be converted to state 510.
Exit marking object can be located at building exit or its nearby (for example, in doorframe, in the threshold of door
Deng).Exit marking object can use 2.4GHz transmitters, magnetic bar codes, EAS etc..Due to the transmitter power of exit marking object
May need to be high enough that shopping cart always and can reliably detect the event of leaving, so the transmission from exit marking
It there may come a time when being further received than demand in interior of building (for example, shop).This high power grade, which can result in, to be left
Detector 310 and/or 360 detect sometimes outlet marker and cart still in shop interiors (for example, customer is picked up along shop
The commodity in forward position).In state 510, the RSSI of marker can be analyzed or be learnt to navigation system to reduce error detection at any time
Possibility.For example, the growth level of RSSI can be that the reduction of RSSI is horizontal (between later by one embodiment
Peak value may indicate that the distance for separating out mouthful marker) change with the consistency of vibration performance (for example, from smooth indoor floor
The vibration on concrete is vibrated, event is left in instruction) it is associated.Positive correlation can increase really detecting for the event of leaving
Confidence level.If not finding RSSI peak values, logical transition is back to state 505.If it find that RSSI peak values, then logical transition
To state 515.
The logic directly can also enter state 515 via Liang Ge mechanisms from state 505.First, dead reckoning system
It is accurate leave detection and can result in logic (represented from directly conversion to the state 515 of state 505 by solid line).As retouched herein
It states, dead reckoning system can include feature and for example can be used for the beacon detection that event is left in detection.Secondly, from intelligence
The wake-up signal of energy wheel can result in logic and (is represented by the dotted line) from directly conversion to the state 515 of state 505.In single shop
The installation of cart tracking system can use one or more technologies for inlet/outlet marker, such as 2.4GHz transmitters,
8kHz transmitters, magnetic bar codes, EAS etc..Therefore, leave/entry event can by intelligent wheel or dead reckoning system come
Detection can notify detected event to its counterparty.
In state 515, dead reckoning system starts dead reckoning navigation pattern.The system can make its state and intelligence
Wheel is synchronous and converts to state 520.In embodiment, when cart is not in dead reckoning navigation pattern, in order to interior
Business administrative purposes, intelligent wheel and dead reckoning system can have rhythmic two-way communication.This communication may be
Because of the tradeoff compromise between delay and power consumption, and it may be such as 1 to 2 second, such as 1.8 seconds.When cart is in boat
When position is calculated in navigation pattern, this communication is likely to reduced, such as is reduced to less than 1 second.When cart in warning area and/or
When going along with sb. to guard him among boundary or near it, which is likely to reduced, such as reduces to its minimum operation value, be, for example, less than 0.75 second or
0.5 second (or some other values).Except the business hours in shop or if shopping cart is inactive (for example, 30 points for a long time
Clock, one hour etc.), then the period can increase, such as increase to a few minutes or dozens of minutes.It is opened in dead reckoning navigation pattern
During the beginning, in order to which navigation purpose may break out communication suddenly between intelligent wheel and dead reckoning system.The outburst energy of the communication
Enough make the state synchronized of two units.
At state 520, which can receive spin data under the stable state of dead reckoning function from intelligent wheel.Such as
Fruit wheel spin data and/or acceleration information can be used and reliably, then the system directly can perform speed from these data
Estimate (state 520).Additionally or alternatively, if wheel spin data is unavailable or unreliable, which can
The wheel speed of rotation or velocity estimation (shape are performed by data analysis (for example, spectrum analysis and/or acceleration information are analyzed)
State 540).Spectrum analysis is described below.
If entry event is detected by dead reckoning system or by intelligent wheel, which can be 520 turn from state
Change the state of being back to 505.If cart, which is detected, comes into warning area, which can convert to state 525.This is
System for example can report warning by the audio output from user's alarm features 335 and/or visual output.If cart is detected
It measures and leaves warning area towards shop, then the logic, which can terminate warning and convert, is back to state 520.On the other hand,
If cart, which is detected to have exceeded, goes along with sb. to guard him boundary, which can convert to state 530.In state 530, boat position pushes away
Calculation system can initiate the lock sequence of intelligent wheel.When intelligent wheel conveys lock sequence to complete to the system, then
The logic can be converted to state 535.
In lock-out state 535, if the system detects that cart has moved recurrence for example by being towed back to going along with sb. to guard him side
In boundary, then the logic can be converted to state 545.The logic can also be converted from state 535 to shape after order is fetched in reception
State 545.Fetch order can come from handheld unit (for example, in store employee hand) such as CartKey remote controllers or
Unit is fetched from CartManager is electronic, both of which can be from doorkeeper's system (Gatekeeper Systems)
(Irvine, CA) is obtained.No matter which kind of mode, fetch signal can unlocking wheel and can fetch signal stop after one
Wheel unlock is kept in fixed period (for example, several seconds to a few minutes), even if cart still may be being gone along with sb. to guard him outside boundary.It pushes away
Vehicle can continue to execute dead reckoning navigation when it is retrieved.
In state 545, which can initiate the unlock sequence of intelligent wheel.It conveys and solves to the system when intelligent wheel
When lock sequence has been completed, then the logic can be converted to state 520.
State diagram 560 can be applied to smart lock fixed wheel 215.It, can for the cart with multiple smart lock fixed wheels
One is selected as main wheel.Then state diagram 560 can be applied to the main wheel.State diagram 560 starts from state 565, wherein
Shopping cart is in indoor an inactive mode.As above-mentioned state diagram 500 is stated, state 565 is selected as initial shape
The purpose of state be in order to illustrate rather than limitation.
In state 565, the sensor such as 360 for exit/entry/restraining line detection can monitor outlet marker
Presence.Until sensor detects exit marking object, smart lock fixed wheel can be maintained at state 565.It is detected in sensor
After exit marking object, smart lock fixed wheel can be converted to state 570.
The foregoing description of state 510 can be suitable for state 570, including what is converted to the state and converted out from the state
Reason.Embodiment can have for the exit/entry in dead reckoning system, smart lock fixed wheel or the two/restraining line inspection
The sensor of survey.According to system configuration, such as the quantity of this sensor and/or position, state 510 or state 570 can be from
It is omitted in each figure.
The logic directly can enter state 575 via accurate outlet detection by intelligent wheel from state 565.As above
Described in conjunction with Figure 3 in text, intelligent wheel can include feature and for example can be used for the beacon detection that event is left in detection.
Embodiment can have this feature in intelligent wheel and/or dead reckoning system.According to system configuration, such as this spy
The quantity of sign and/or position are directly converted to state 575 from state 565 or are directly converted from state 505 (real to state 515
Line) it can be omitted from each figure.In state 575, intelligent wheel can initiate rotation counting function.For can detect into
The intelligent wheel (for example, intelligent wheel with sensor 360) of incoming event, once detect entry event, then the logic energy
It is enough to be back to state 565 from the conversion of state 575.Entry event is not detected or is asked according to the synchronization from dead reckoning system
(for example, being converted from state 515 to during state 520) is asked, then intelligent wheel can make its state and dead reckoning system same
It walks and converts to state 580.
Once receiving the order for starting counting up rotation from dead reckoning system, intelligent wheel can also be directly from state
565 convert to state 580.The embodiment of the system can combine this order perform dead reckoning system and intelligent wheel it
Between synchronization so that when state 580 starts, which synchronizes.Stop counting rotation once receiving from dead reckoning system
The order turned, intelligent wheel can also exit state 580 and be back to state 565.
Once receiving lock command from dead reckoning system, then intelligent wheel can be converted to state 585, wherein intelligent vehicle
The locking mechanism of wheel is engaged.Once being received from dead reckoning system and unlocking command or fetching order, then intelligent wheel can be from
The conversion of state 585 is back to state 580.
E. example dead reckoning system process
Fig. 6 A and Fig. 6 B show rotation in wheel be reliably detected in the case of basis update ring show
Example.The box in left side includes the process in dead reckoning system；The box on right side includes the process in the intelligent wheel of rotation detection.
For illustrative purposes rather than limitation, the ring start from box 604.In box 604, dead reckoning system and/
Or intelligent wheel detects the event of leaving.In block 608, dead reckoning system can determine that the minimum that gives a warning may be away from
From and/or the time.In box 612, wheel rotation counting and/or timeout parameter can be sent to intelligence by dead reckoning system
Wheel.Timeout parameter can be based at least partially on as identified minimum potential range and/or time are true in block 608
It is fixed.If for example, the minimum potential range is small, timeout period can be short, and vice versa.A kind of selection of timeout period may be
Under the worst case conditions and/or assume to go along with sb. to guard him the boundary still too short period across nearest for cart.
In block 616, dead reckoning system can accumulate magnetic data, acceleration information and/or vibration data.Time sequence
Row can be formed from the data accumulated, as represented in box 620.The event can be carried out by signal processing technology
It handles to export useful information.For example, acceleration information can be used for the frequency of estimated wheel rotation, it is such as following in title
Described in chapters and sections for " estimating via the longitudinal velocity of vibration analysis ".
In box 624, whether dead reckoning system determines to enter or be again introduced into shop and be detected.If so,
Then flow is back to box 604 and repeats from there.If it is not, then flow proceeds to box 628.In box 628, position of navigating
Estimation System determines whether exact position positioning has been received for example, by the interface 435 that is accurately positioned in Fig. 4.If so,
Then process proceeds to box 644.Otherwise process proceeds to box 632.
In block 632, dead reckoning system determine one in magnetic data, acceleration information and/or vibration data or
Whether multiple features are abnormal.If it is, dead reckoning system can be entered based on detected specific exceptions perform it is special
Processing, as shown in box 636.After the completion of specially treated, flow can continue from appropriate box, if wheel rotates
Data are used in process, then are continued from such as box 640, when wheel spin data is not used by, then from such as box
644 continue.If it is not, then process proceeds to box 640, wherein dead reckoning system, which can determine from after last time iteration, is
It is no to receive spin data from intelligent wheel.If it is not, then process returns to box 616.Otherwise process proceeds to box
644。
For example, when magnetometer is near for example large-scale sport vehicle of vehicle, abnormal magnetic force can be generated
Count feature.The vehicle may distort magnetometer readings so that the amplitude of the vector of reading departs significantly from the expection earth magnetism of the position
.This deviation can generate the off-note in magnetometer data.
As another example, off-note can be by universal wheel flutter (for example, universal wheel wheel rapidly shakes back and forth
Pendulum) it generates.Normally, wheel magnetic force meter can export the mark of this magnetic north (Y-axis magnetic field, X-axis magnetic field) for being related to arc tangent 2
The universal wheel angle of title, wherein those of reference axis and cart reference axis match.The hereinafter course described in Figure 12 A
After estimation process, intelligent positioning system magnetometer is capable of providing the course relative to this magnetic north.Embodiment can pass through
Bandpass filter with such as passband of 0.5Hz to 25Hz, 0.1Hz to 50Hz handles universal wheel shaft centerline measurement value and cart
Both courses.When there are during universal wheel chatter phenomenon, residual sum of squares (RSS) (RSS) value of filtered universal wheel shaft can be more than often
Three to seven (for example, five) of second spend and more than the cart turning rates of in the same period interior 2.5 to 3.5 (for example, 3) times.
The specially treated of universal wheel flutter can include：1) for dead reckoning purpose, ignore the rotation number from wheel
According to；2) carry out the estimated wheel speed of rotation using spectrum analysis；3) notch filter is optionally applied to cart X axis vibration number
According to wherein center trap frequency can be located at the centre frequency of universal wheel oscillation or near it.
When rotating instruction wheel with ground loose contact, it may occur that abnormal third example, for example, wheel is with quite permanent
Fixed speed is rotated and is quickly stopped rotating due to the friction in bearing.
It in this case, can be with by the acceleration in the measured cart X-coordinate of low-pass filtering accelerometer output
Less than the acceleration that rotation counting is contained in a notable ratio, be, for example, less than half, three/it is second-class；For at least two
The interval between continuous rotation detection in swing circle is indicated more than 1m/sec2(=0.1gee) acceleration or deceleration
Situation, embodiment can apply additional requirement.If as an example, in such as 3 to 5Hz low-pass filtering, the X-axis of cart adds
1m/sec is compared in speed (for example, being rotated as the accelerometer in intelligent positioning system to measured by cart reference frame) instruction2
Much smaller number is, for example, less than 0.5m/sec2, then may infer that the off-note for wheel and ground loose contact.It is in addition, real
Applying example can be by the symbol (for example, negative mean deceleration) for the acceleration reported by accelerometer compared with wheel.Such as
Fruit symbol is on the contrary, then the embodiment can conclude that undesirable wheel contacts over the ground.
Wheel and the specially treated of ground loose contact can be included：1) for dead reckoning purpose, ignore and come from
The spin data of wheel；2) carry out the estimated wheel speed of rotation using spectrum analysis；3) it is good to determine whether to monitor the spin data
Good ground contact has restored or when the contact of good ground has restored.For example, accelerated by the wheel that rotation steps are contained
Degree/deceleration is：A) have twice of amplitude of the same symbol and the cart X-axis acceleration in low-pass filtering as described above
It is interior；Or, b) for the interval (for example, five to ten seconds) of some programmings, amplitude is less than 0.3 to 0.7 (for example, 0.5) m/sec2。
In box 644, dead reckoning system is capable of position, speed and/or other state variables of more new estimation.If
The process directly enters box 644 from box 628, then location updating can include being based at least partially on determining from exact position
The data of position, reset the estimation to position and other state variables.If process enters box 644 from box 640 or 636,
The update of the estimation of position and other state variables can be estimated including being wholly or partially based on dead reckoning.
In box 648, dead reckoning system determines whether cart is in and is gone along with sb. to guard him in the warning distance on boundary from cart, example
Such as in warning area.If it is not, then process returns to box 608.If so, dead reckoning system can be carried out to box 652,
Wherein the system can initiate locking and/or alarm sequence, such as shown in Fig. 5 by state 525 to 535.
Shown on the right side of Fig. 6 A, in box 664, the intelligent wheel of rotation detection can be waited for from dead reckoning system
The rotation counting and/or timeout parameter of (being sent at box 612).At box 668, intelligent wheel is capable of accumulated time stamp
Rotation and/or validity indication symbol.Validity indication symbol shows whether rotation counting is effective, if for example, measured data
Show that bad wheel contacts over the ground, then validity indication symbol for example shows to count in vain by low state.Time series can be from tiring out
Long-pending spin data is formed, as represented in box 672.
In box 676, intelligent wheel determines whether locking field is set (for example, being 1).When cart has been more than to go along with sb. to guard him side
During boundary, locking field can be set in smart lock fixed wheel.Fig. 6 describes wherein intelligent wheel and can determine to lock cart
The embodiment whether condition meets.Fig. 5, which describes wherein dead reckoning system, can make such determining alternate embodiment.
If it is, intelligent wheel can communicate with dead reckoning system, which can send out in turn at box 652
Play lock sequence.Otherwise, intelligent wheel process may proceed to box 680.
In box 680, intelligent wheel can determine whether the timestamp rotation of accumulation and/or validity indication symbol show
The evidence of flutter, jump etc..If it is, intelligent wheel can communicate with dead reckoning system, which can
Perform the detection of off-note in turn at box 632.If it is not, then intelligent wheel process can proceed to box 684,
Middle intelligence wheel is able to determine whether to have had reached rotation counting limitation or time-out.This can help to reduce to take turns to from intelligent vehicle
The communication frequency of dead reckoning system, so as to reduce energy expenditure.If having reached rotation counting limitation or time-out,
Intelligent wheel can pre-process spin data and pretreated data are sent to dead reckoning system.Pretreatment can subtract
It is transferred to the data volume of dead reckoning system less, so as to reduce energy expenditure.If for example, being communicated using RF, pre-process
It can include data compression to reduce the cost of energy of such as wireless radio transmission.If reach rotation counting limitation or super not yet
When, then the process can return to box 668, and wherein data accumulation continues.
In some embodiments, the wheel spin data that accumulated time is stabbed in its local storage.Optional additional data
Such as magnetometer values and/or acceleration evaluation can also be captured, for assessing the reliability of rotational value (for example, for true
Determine universal wheel whether flutter).
It is such as described above in conjunction with box 684, it is having been detected by a certain number of rotations or have passed through given
After time quantum, the data of accumulation can be sent to dead reckoning system by intelligent wheel.For example, wheel may be electrically coupled to
Dead reckoning system can be communicated using wired or wireless technology with dead reckoning system.
When wheel is when accumulating spin data, dead reckoning system accumulate original magnetometer data, accelerometer data and
Vibration data.Embodiment can be configured as only collecting the subset of the data of these types or collect another type of data,
Such as gyro data.Certain combinations of data type can advantageously improve the accuracy of dead reckoning estimation.It is for example, as follows
Described in the chapters and sections in face entitled " steady state speed estimation update ring ", spin data can be used in exporting accelerometer offset
Amount.As another example, the wheel spin data from both preceding universal wheel and rear axle wheel can be with the magnetic in course estimation
Power counts combination.
In some embodiments, in stable state dead reckoning navigation, wheel Cum. Rot. Hrs stamp is (for example, from some ginseng
The time migration of detection that the n-th for examining the time to wheel rotates, wherein N is integer)；Dead reckoning system accumulation can be located
Manage the data (for example, magnetometer and accelerometer data) to generate posture and course information.
IV. dead reckoning method
Some shopping carts, which go along with sb. to guard him embodiment, may have limitation, these limitations may make the execution of other practical solutions
It is challenging or unrealistic.Some of them limitation can also be suitable for other environment or application.These limitations include：Wheel
Course estimation precision；Asymmetric energy limit between dead reckoning system and intelligent wheel；Rotation sensor and boat position push away
Lack feasible connection between calculation system.The influence caused by these limitations is minimized to be advantageous.
A. the error in course estimation is reduced
A number of factors can may make it difficult to obtain accurate course from the Magnetic Sensor being placed in shopping cart wheel,
Such as universal wheel effect, 50/60Hz couplings and/or embedding ferromagnetic object.
The typical front wheel of shopping cart is rotated around vertical axis.If universal wheel deviates from vertical direction, then wheel leads to
Often can around universal wheel shaft quick oscillation, such as frequency is about 0.5Hz to being less than 10Hz.Oscillation may be quasi periodic
, but not exclusively so.If universal wheel is inhibited to vibrate the influence to course estimation, low-pass filtering using low-pass filter
The cutoff frequency of device will be less than 0.5Hz, far below such as United States Patent (USP) No.8, the cutoff frequency of the number Hz described in 046,160.Cause
This, magnetometer adds low-pass filter may be for accurate dead reckoning too to the response of the actual change in cart course
Slowly.
Power line frequency on buried power line or its harmonic wave (such as by the driven second harmonic of fluorescent illumination, come
From the multiple-stage harmonic of motor starting) high current a large amount of magnetic field can be generated on wheel.Although these can use band resistance
Wave filter is filtered out in large quantities, but the induced field on cart may be sufficiently strong, in the low-power magnetic on cart
Cause in power meter significant non-linear.In some embodiments, these non-linear be likely difficult to filter and may cause to navigate
Inaccuracy into estimation.
Large-scale ferromagnetic object such as structural steel or iron pipe may generate the apparent soft iron distortion for being higher by several centimetres of surface.
Induced field on wheel may be sufficiently strong significant non-linear in the magnetometer being mounted on wheel to cause.
The accuracy of course estimation can be improved using following one or more technologies：(1) for including rigid installation
To the three axle magnetometer of the main body of wheeled object and the reality for the three axis accelerometer installed with the magnetometer into fixed angular relationship
Example is applied, it can be with the inclination of compensation magnetometer.Ground inclination may influence the accuracy of magnetometer.Gradient is higher, leads to ground
The vertical component in magnetic field is projected biglyyer on the reference levels frame of the cart parallel with (inclined) ground.This may lead
Cause the inaccuracy of the bigger in magnetometer output.(2) magnetometer that is mounted in the main body of wheeled object is performed hard iron and
Soft iron is calibrated.This is that the U.S. of entitled " magnetometer and accelerometer calibration that are used for cart navigation system " of co-pending is special
Profit application No.###/###, the theme of ###.(3) digital filtering algorithm is applied to reduce noise to original magnetometer output, it is special
It is not to eliminate local power line frequency (for example, 50 or 60Hz, depending on geographical location) and its harmonic wave.(4) pass through wave filter example
Merge as Kalman filter exports magnetometer with gyroscope output (for example, MEMS gyroscope).Gyroscope is capable of providing can
For combining or replacing the course information of magnetometer data.Since gyroscope can directly export rate of turn, so gyro
Instrument can provide the response time more better than magnetometer or accelerometer to quick course change and/or tighter turning radius.It should
The better response time can result in more accurately dead reckoning tracking.Gyroscope is capable of providing data to confirm other sensors
Output.For example, magnetometer and the inconsistent data of gyroscope may be abnormal instruction.For the cart in parking lot, warp
The vehicle crossed may distort magnetometer data and resulting course estimation.One embodiment of dead reckoning system can
Using gyro data come confirm course estimation based on magnetometer data or come combine magnetometer data in course estimation
In gyro data.Another embodiment of dead reckoning system can be configured as when the system is in busy parking lot
When, such as during peak shopping times, gyro data is based only upon to perform course estimation.
In more common shopping cart types, front-wheel is rotated towards universal wheel, and the axle of trailing wheel is by rigidly solid
It is scheduled on vehicle frame；Therefore, cart instantaneous motion vector (for example, by the aggregation center of cart formed at any time relative to rail
The derivative of the time in road) line between two trailing wheels is vertical.
Explicit variable/hidden variable in the state estimator moved in longitudinal pitching movement and axial rolling may be for
Dead reckoning estimation is useful.In the coordinate system of cart, yawing rotation can be considered as to be mended by preceding rotating wheel
It repays.The hidden variable of the state estimator of cart movement includes the instantaneous 3-D courses in the coordinate system centered on frame and wink
Shi Sudu.In the case where vibration data may be noise, such as due to rotation detection wheel and ground loose contact, can make
The accuracy of vibration analysis is improved with one or more hidden state variables.For example, with flat surface portions but and ground
The data with the regular temporal signatures from the flat surfaces for entering and leaving ground can be generated by contacting good wheel.
For example, embodiment can be using such data come the filtering rolling component from vibration data.This can improve vibration analysis
Accuracy.Another embodiment can be configured as using one or more in this hidden state variable rather than in boat position
Vibration analysis is performed in reckoning.This can have advantage in the system of energy constraint, because having from than corresponding vibration data
There is extraction feature in the hidden state variable of less noise, it may be necessary to less sample, lower sample rate and/or less
Estimation.
Vibration performance can be influenced sometimes by generating the physical effect of insecure rotation information.As counter-example, completely not with
The wheel (for example, because stroller frame has been bent) of ground contact may not have much affect to vibration performance.As another
Counter-example, such as the wheel for having excessively poor tractive force due to snow, ice or the sand on ground may not have vibration performance
Too big influence.On the other hand, it touches ground but has the wheel of strong universal wheel flutter can be in the frequency of universal wheel flutter
Place causes vibration performance, and may cause vibration performance at its harmonic wave.One embodiment can be by universal wheel flutter frequency
It is distinguished with speed.The frequency can be distinguished in the following manner：1) identification universal wheel flutter frequency typically may be used
Speed can be more than；And 2) using estimating by the flutter frequency of the magnetometer offer in wheel in vibration peak searching algorithm
Meter --- not by peak value with making flutter frequency estimation associated with the feature that speed matches.
The accessible yaw rate of reality (change in direction or direction) of the shopping cart of Manual-pushing is likely less than per second
90 degree.The Kalman filter of observable quantity with three axle magnetometer reading and simple gravitational vectors including correction,
It can be enough for course information to be output to enough precision.The latent variable of course estimation device may be three axis course vector sum boats
To rate vector.
B. the error in longitudinal velocity estimation is reduced
As described above, the longitudinal velocity of wheeled object can be by measuring the rotation of one or more of wheel wheel
Rate is estimated.However, in some cases, the longitudinal direction of wheeled object is estimated by the technology in addition to counting wheel and rotating
It may be advantageous for speed.For example, in the case of retail shop shopping cart, it may be desirable to by the compass based on magnetometer rigidly
It is installed in cart handle.Further, since the reason of cost and logistics facilitate, it may be desirable to which entire electronic building brick is installed to cart
On handle.The considerations of similar, is suitable for its of the luggage truck for example used airport, railway station etc. and other wheeled objects
He applies.
However, in many cases, the direct measured value that wheel rotates is supplied to and is not resided on wheel (for example, peace
In cart handle) electronic building brick, while realize that acceptable low cost (including relatively easy installation, operates with
In stability and service life etc.) and the battery life of wheel it is long, it may be possible to challenge.Estimate advantageously for longitudinal velocity, it can
To use the state estimator for being not based on wheel spin data, such as the estimator based on accelerometer data.
However, the mems accelerometer of low cost, low-power may be without such performance so that accelerometer output can
Simply with the direct double integral of acceptable precision (first into speed, then by rate integrating into position) to determine wheeled object
The position of body.
For example, the KMX62 three axle magnetometers/three axis accelerometer that can be obtained from Kionix companies (Ithaca, NY) exists
25milligee or 0.25m/sec2After calibration, there is nominal acceleration meter DC offset error.Vertical (z) axis phase of accelerometer
For the once error in cart longitudinal direction (x) shaft alignement or variation, such as since heavy load is placed on for example pushing away in basket
Caused by the reversible bending of frame, lead to the 17milligee errors in longitudinal acceleration.Adding with highest vertical component
The linearity error of speed meter shaft can according to accelerometer axis relative to the cart longitudinal axis mounting means easily be longitudinal error
Contribute more milligee.Pass through the simple double integral of acceleration, longitudinal acceleration 0.25m/sec2Non- correction error
12 meters of position error will be generated after only ten seconds.Obviously, this is not the feasible solution for estimating wheeled object space.
Longitudinal velocity state estimator as described in this disclosure can be compensated using vibration data it is this low cost,
The precision limitation of low-power accelerometer.
C. example constrains
For some embodiments of the state estimator based on vibration, one or more of constraint below can be applicable in：
(1) wheeled object has approximate rigidity with the frame in the required accuracy of estimation.(2) wheeled object travels over
Quasi- random roughness in surface (for example, floor or parking lot) have the size more much smaller than the wheelbase of wheeled object (and
It may be more much smaller than the diameter or perimeter of wheel).For example, the wheelbase of cart can be about one meter or more (and wheel diameter,
Several centimetres to 20 centimetres), and the quasi- random roughness in the medium pitch parking lot being seriously worn is about one to five millimeter equal
Root (RMS).The range of the surface roughness (RMS) of many parking lots (pitch or concrete) can from about 0.1mm to 10mm,
0.5mm to 8mm, 1mm to 5mm or some other range.In some cases, the surface of many parking lots (pitch or concrete)
The range of roughness (RMS) can be measured relative to wheel diameter (D), and can be in about 0.001D to 0.1D, 0.01D
To 0.05D or some other ranges.(3) from ground continuously the wheel of non-gliding contact obtain reliable spin data can
Can be not realistic.In some embodiments that can obtain reliable wheel spin data, reliable wheel rotation
Data can additionally or alternatively be used for technology described below.
In order to improve the continuous non-gliding contact between wheel and ground, wheel can include suspension arrangement, such as profit
With the universal wheel of spring load.This device may in ground unevenness, in wheel wear when and/or stroller frame be bent when
It is particularly useful.
D. estimate via the longitudinal velocity of vibration analysis
Fig. 8 shows the example filtered acceleration meter time series measured at shopping cart handle (when continuing within one second
Between).Curve graph 800 in Fig. 8 shows the acceleration of the function (in seconds) as the time of three components of acceleration
Degree (with " g " for unit, wherein g is normal gravity), wherein x is in forward (or equally, backward) cart movement in level
Direction in face, y is in the horizontal plane perpendicular to x, and z is in vertical direction (perpendicular to the surface that cart is advanced), such as the seat in Fig. 2
Shown in mark system 230.Data in curve graph 800 use typical grocery store's shopping cart that about 15kg is mounted in main basket a little
It is measured on coarse asphalt surface.Sampling rate is uses three axis piezoelectric accelerometer (Measurement of 6kHz bandwidth
20,000 samples/sec (sps) of Specialties (Hampton, VA) model 832M1 accelerometers.The filtering applied is calculated
Method is 1-D median filters, followed by Savitsky-Golay smooth (exponent number 3, length of window 7) and in shown width
Upper carry out trend separation.Root mean square (RMS) amplitude of this signal specific is approximately 1.4g in x-axis, and z-axis is 1.2g, and y-axis is
0.7g。
Fig. 9 shows the wheel speed of rotation of identical shopping cart measured in the same circumstances and the example of time relationship.
Wheel velocity is the output of the accurate hall effect sensor by being sampled with 1600sps (raw velocity, as shown in filament 905)
Parabolic interpolation measure.In one embodiment, for the purpose of signal processing, the sample rate of vibration data sensor
Can be substantially 5 to 10 times of system bandwidth.The system bandwidth of reality can be 10 to 20 times of (examples of the maximum wheel speed of rotation
Such as, the maximum wheel speed of rotation for 10 revolutions per seconds is 100-200Hz).Interpolation rate (1 second moving average) is by thick line 910
It shows.The quick oscillation of the speed in raw velocity data with frequency in tens hertz (Hz) is due in asphalt surface
Small size roughness caused by.In this illustration, (for example, interpolation) wheel velocity of estimation at about 3.2 revolutions per seconds to about
In the range of 3.7 revolutions per seconds.As discussed in this article, the linear velocity of wheel (and cart) is to be multiplied by wheel with revolutions per second
The speed of perimeter.
Figure 10 A show the power spectral density (PSD) of same data set, but are used inSignal processing work
The Thomson multiwindow method implemented calculates in tool case pmtm functions.It may be due to the quick oscillation (ginseng in raw velocity data
See the line 905 in such as Fig. 9), other conventional methods (for example, Wei Er odd methods) for calculating PSD may not provide conjunction
Suitable PSD data.Horizontal axis represents the frequency as unit of Hz.Vertical axis represents PSD with the g2/Hz of logarithmic scale, is usually used in surveying
Measure the unit of vibration amplitude.
With reference to figure 10A, X-axis is in the direction of motion of cart, and Y-axis is perpendicular to the direction of motion and is parallel to cart row
Into surface (for example, in the horizontal plane), and Z axis is perpendicular to the surface that cart is advanced (for example, in vertical plane).Frequency
F0 is the nominal speed of rotation of carriage wheel (it is assumed that it is normal conditions that all wheels, which have same diameter,；It is straight with a variety of wheels
The vehicle of diameter may need additional processing), it is averaged in the length of data acquisition intervals.In other words, in the time
N times in the T of interval always rotate, f0=N/T.In Figure 10 A, f0 is about 3.9Hz, this is for a diameter of 5 inches of shopping cart vehicle
The speed of 1.6 meter per seconds or 3.5 miles per hours is converted into for wheel.Certainly, the value of f0 depends on the speed of wheel.
5dB width is the speed range centered on f0 so that 68% (1 standard deviation of normal distribution of frequency
Difference) fall into [f0-.5*BW5dB,f0+.5*BW5dB] in the range of.Speed can be calculated as same phase in continuously rotating twice
The inverse at the interval between site.
Figure 10 B show with identical data shown in Figure 10 A, but in 1.5Hz to 6.5Hz frequency ranges,
So that the spectral signature close to f0/2 is more visible.It is nominal that the speed of rotation can there are strong peak value and/or weak peaks by PSD
Value determines.The positive or negative distance that strong peak value can be defined as any value for example than given acceleration axis PSD is at least big
5dB, such as 3 times of the 5dB bandwidth of rotational spectrum, wherein 5dB bandwidth is computed as described above.For example, for the data in Figure 11,
The 5dB bandwidth of f0 signals is about 0.3Hz, therefore the f0/2 peak values in X-axis at about 1.9Hz are considered as " strong ", because it is than 1.9
Big more than the 5dB of any other peak value in the range of +/- 0.9Hz.Weak peak value can be described as relative to the office in its PSD space
Portion region (the 5dB bandwidth of positive or negative 3 times of driving frequencies) has the amplitude less than such as 5dB but more than such as 2dB.According to pushing away
Vehicle and/or erecting bed characteristic, different embodiments can be directed to amplitude and/or bandwidth parameter uses different values.For example, one
Kind installation can use 5dB bandwidth, 2dB bandwidth and 3 times of 5dB bandwidth as described above.Another kind installation can instead make
With 6dB bandwidth, three dB bandwidth and 4 times of 6dB bandwidth.Another installation can use 4dB bandwidth, 2dB bandwidth and 3 times of 4dB bands
It is wide.Typically, increase search bandwidth can make it easier to capture rumble spectrum in relatively low peak value (for example, this can
Can occur in cart drastically acceleration or deceleration, which is fallen), it is also possible to increasing the risk of mistake (for example, identification
It is not the peak value caused by wheel rotation with constant space, such as puppet is humorous caused by certain features in pitch
Wave).The value of these parameters can be determined when installing design phase or website.
For corresponding to the cart design of Figure 11, the most reliable discriminate for detecting f0 is in X-axis acceleration spectrum
There is no peak (in fact, having in Z axis acceleration spectrum locally close to most there are strong peak at f0/2, and in Y-axis and Z axis acceleration spectrum
Small value), as shown in box 1070.Candidate f0 values can pass through at f0 in Y-axis acceleration spectrum and 1.5* in X-axis acceleration spectrum
There is verification (for example, first odd harmonic of the basic driver frequency at f0/2) in the weak local peaks at f0.
In embodiment, once dead reckoning system determines f0, then the forward speed of cart can be multiplied by wheel by f0
Circumference determine.For example, for a diameter of 5 inches of U.S.'s shopping cart wheel, perimeter is 15.7 inches (for example, the diameter
π times), and for the example value f0=3.94Hz determined by the example PSD in Fig. 9 and Figure 10, then before the estimation of cart
It is 61.9in/s=5.16ft/s=3.52 miles per hours=1.57m/s into speed.
Correspondingly, the embodiment of dead reckoning system can be estimated using vibrating sensor data wheeled object (for example,
Cart) wheel the speed of rotation, and the perimeter of the speed of rotation based on estimation and wheel estimation cart forward speed.It shakes
Dynamic sensing data can include in one direction, the acceleration information of both direction or the data of short-time series on three directions.
Short time can be from about 1/2 wheel swing circle to 5 to 10 swing circles (or more) in the range of.For example, for
For certain carts, which is in the range of about 0.1 to about 5 second.The available feelings of effective spin data interval wherein
Under condition, embodiment can update vibration performance using period of the wheel in the contact of good ground.The side of acceleration information
To can include wheeled object first (forward direction) direction, perpendicular to first (forward direction) direction second direction and/or perpendicular to
The third direction of first direction and second direction.For example, second direction is at horizontal plane, (wheeled object is moving flat
Face) in, and third direction may be in vertical plane.Horizontal plane may normally be parallel to wheeled object and travel over
Surface.
Dead reckoning system can be based at least partially on the peak in identification acceleration spectrum associated with acceleration information
Value carrys out the estimated wheel speed of rotation.The peak value can be associated with the acceleration information in the direction of motion of wheeled object.Estimation
The wheel speed of rotation can be twice of frequency of the peak value.Some embodiments can be by determining the in acceleration spectrum
The wheel speed of rotation of estimation is verified in the presence of two peak values with the 1.5 of the wheel speed of rotation times estimated.Extraly or it can replace
Ground is changed, some embodiments can be by determining the horizontal acceleration with the direction of motion perpendicular to wheeled object of wheeled object
The presence of the third peak value at the estimated wheel speed of rotation in associated acceleration spectrum is fast to verify the rotation of the wheel of estimation
Rate.
It is answered for different shopping cart constructions (for example, stainless steel wire frame bicycle basket and plastics cart basket) and for different
With or the different surfaces that move of shopping cart, the specific features that are extracted from rumble spectrum may be different.In Fig. 8,10A and 10B
Vibration performance is the example of special scenes.
Included available for feature extraction with obtaining the algorithm of feature：(1) the quick Fourier of batch under high frequency spectral resolution
Leaf transformation (FFT) searches for clearly harmonic content；(2) in the frequency range corresponding to wheel instantaneous angular velocity zone of reasonableness
Discrete Fourier transform (DFT), in rational harmonic spike find ceiling capacity migration.The application of many shopping carts is come
It says, the range of wheel angular frequency is from about 1Hz to about 5Hz or about 1Hz to about 10Hz.(3) it finds (for example, with flat on wheel
Point is associated) the time-domain window method of peak value of pulse.
For batch FFT, required minimal frequency resolution ratio can be exported from the spectrum width for the feature to be parsed.
For example, the spectrum width (1070) of the f0/2 peak values in Figure 11 is about 0.1Hz.For 0.016 to 0.25 (for example, 0.02) Hz's
Required spectral resolution may need about four to six (for example, five) different Frequency point to clearly parse the peak value.
Clear harmonic content in batch FFT contents can be defined according to peak value and its harmonic ratio.Refer back to Figure 11,
Three cline frequency points that candidate peak can be defined as at or near the center of candidate peak have than the candidate peak
Centered on a quarter octave in the range of big more than the 3dB of any other value (for example, from candidate peak centre frequency divided by
The 4th of two is multiplied by the 4th of two to candidate peak center frequency) and than half octave range on the big 5dB of RSS values with
On amplitude at a peak value.
The nominal center frequency of candidate peak can be via the highest frequency point in candidate peak and immediately follows lower and more
The parabolic interpolation of the logarithmic amplitude of high Frequency point defines.If the ratio of the centre frequency of candidate peak is integer example
Such as 2 or 3, then the harmonic ratio in precision that the candidate peak can be set two to three times spectral resolution.For outdoor face
(for example, pitch), embodiment may not consider that the harmonic wave higher than triple-frequency harmonics becomes candidate, because higher harmonics may be too
It is noisy.For smooth chamber internal surface (for example, malthoid), higher order harmonics can be considered as candidate in embodiment.
It in some cases, can be by the relationship in the candidate peak between poor vibrating shaft come additional qualification candidate peak
Value.Later referring again to Figure 11, the characteristics of f0/2 peaks (1070), is the high protrusion peak value in X-axis and Y-axis or Z under identical frequency
The combination of peak value is not present on axis, and is Y-axis the characteristics of f0 peak values (1080) and peak value occurs and do not have institute in X-axis and Z axis
The peak value of definition.Since the peak amplitude of -27.4dB (g2/Hz) at 3.77Hz is only higher than the peak amplitude at 4.16Hz
2.8dB, so the peak value in the Y-axis at f0 may not be considered as the candidate peak of above-mentioned standard.It can use and seek more in detail
Peak algorithm.This algorithm can be at the f0 in positioning Y-axis peak value, such as by by the peak amplitude at the peak and a quarter times
The RSS amplitudes of two peaks rather than peak are compared in sound interval range；By the standard, the Y at f0 can be identified
The peak value of axis.
E. estimate via the longitudinal velocity of acceleration analysis --- concrete connects example
It is shown in Figure 11 A and Figure 11 B in the example accelerometer measured on the shopping cart rolled on mattess
Between sequence.Cart in measurement includes about 15 kilograms of payload.Cart is in two concrete extension joints with quite straight
Lines roll.Curve graph 1100 shows acceleration of the vertical axis (for example, Z axis) relative to the time.In t=1.0 and t=1.5,
Then the normal acceleration outburst in t=5.8 and t=6.3 is the result that front wheels and rear wheels collide expansion joint respectively.Second
It is since the trailing wheel on the vehicle does not have universal wheel, without on front-wheel to break out the large magnitude (in t=1.5 and 6.3)
The damping effect of universal wheel.There may be up to four different events, four-wheel to push away with the cart that notable angle passes through expansion joint
One event of each wheel of vehicle.When the spacing between understanding concrete extension joint and cart pass through continuous seam spent
Between (for example, 6.3-1.5=4.8 seconds in curve graph 1900) in the case of, can estimate the speed of cart.
Figure 11 B show the amplified curve figure around the t=6.3 seconds corresponding to Figure 11 A.It is hit corresponding to trailing wheel within t=6.3 seconds
Hit the time of the second concrete extension joint.Curve graph 1150 shows that Z acceleration becomes negative value in t=6.319.This is equivalent to
Trailing wheel is fallen on first edge at expansion joint.Strong peak at t=6.323 corresponds to the time that wheel hits the seam bottom.It is bent
Line chart 1150 shows about 1 millisecond of peak while in the peak accelerator lag Z and X in Y-axis.This lag may be due to pushing away
Vehicle does not hit expansion joint as the crow flies completely and vehicle is caused to wave.
F. example states estimator
Embodiment can implement the state estimation as linear quadratic estimator (a kind of standard Kalman filters of LQE-)
Device.However, the disclosure is not limited to LQE.Other embodiment can be related to hidden Markov model and the estimation of continuous latent variable
The combination of (for example, extended Kalman filter, Unscented kalman filtering device etc.).
The available observation of continuous estimator can include：
The 3-axis acceleration of the cart body shell of electronic system can be coupled to, by Medium-bandwidth (for example, up to
About 100Hz) dc-couple three axis accelerometer measures.A kind of example accelerometer is Freescale Semiconductor (Freescale
Semiconductor the FXOS8700CQ digital sensors and the accelerometer system of 3D accelerometers) provided.Another example
It is the 3D acceleration meter systems of KMX62 three axle magnetometers/three axis accelerometer, it can be from Luo Men group companies (Kyoto, Japan)
Kionx companies obtain.
Three axle magnetometer reading, can be with accelerometer in identical reference frame.A kind of example magnetometer be by including
Magnetometer in Freescale FXOS8700CQ digital sensors and 3D accelerometers.Another example magnetometer is included in
Magnetometer in KMX62 three axle magnetometers/triaxial accelerometer.In some embodiments, accelerometer and magnetometer can be independent
Component.
The feature extracted from the high-frequency ac coupled vibrations frequency spectrum of stroller frame can be coupled to electronic system, but not
Centainly coupled via the circuit system identical with accelerometer.These features can include the wheel speed of rotation of estimation
f0.The quantity of the independent axes of vibration measurement can depend on the mechanical structure of cart.For example, assert three cartesian axis in high frequency
When be that independent this may be inaccurate.
May be suitable for the disclosure for measure vibration various sensors include (1) have optional point mass with adjust
The cantilever piezoelectric beam of Harmony response spectrum；(2) cantilever beam of non-magnetic material (for example, stainless steel) operated in the elastic limit of beam
On, there is the small magnet that optional point mass is for example composed by the electromagnetic force (EMF) in inductor coils with tuning response；(3)
Cantilever magnet adds induction coil, can be the small-sized cheap low-power component for high bandwidth vibrating sensor；(4) high bandwidth
MEMS accelerometer, such as KX123 (can be obtained from Ithaca, the Kionix of NY).
As shown in the chapters and sections of entitled " estimating via the longitudinal velocity of vibration analysis " and Figure 10 A and Figure 10 B, one
In a little embodiments, the bandwidth of vibrating sensor may not be crucial.For example, to being more than in sample data in Figure 10 A
About 15Hz without interesting part.However, high sampling rate can be used within the extremely short period for example when cart
Rotary speed provides enough frequency resolutions when changing.
G. course estimation
Figure 12 A show exemplary process flow diagram 1200, and by the flow chart, the embodiment of dead reckoning system can be true
The estimated course being scheduled in the coordinate system (for example, coordinate system 230) of wheeled object.
Flow chart 1200 can start at box 1206, and wherein magnetometer/accelerometer can compensate for by Multiple factors
Caused offset/error.Calibration data can include as temperature 1210 function each sensor axis gain, deviate and
It is non-linear.Embodiment can calibrate all axis of both accelerometer and magnetometer.Another embodiment may not calibrate acceleration
The trunnion axis (for example, x-axis and y-axis in coordinate system 230) of meter.For example, for Kionix KMX62, dead reckoning solution
Accuracy may not be significantly affected by accelerometer error.On the other hand, magnetometer axes offset and gain with temperature
The variation of degree may significantly affect the precision of dead reckoning estimation.Therefore, embodiment can individually calibrate magnetic in temperature
Each axis of power meter.With do not have in temperature the characteristic of significant changes or its installation with operating temperature in narrow range
The system of interior magnetometer, it may not be necessary to individually each axis of calibration magnetometer.
For some sensor types including Kionix KMX62, in the high temperature (example for being exposed to reflow soldering process
Such as, it is about 260 DEG C according to IPC/JEDEC J-STD-020C) after, magnetometer offset being capable of significant changes.Therefore, sensor energy
It is enough preferably after PCBA is assembled, such as be calibrated during production test procedure after assembling.It, can be with during calibration
Create database " calibration (relative to gain+offset+non-linear of temperature) " 1210.Database can be stored in the sudden strain of a muscle of processor
In memory 425 in fast memory such as Fig. 4.When implementing calibration at box 1206, temperature sensor is capable of providing temperature
Degrees of data 1202, magnetometer/accelerometer is capable of providing its original measurement value 1204, and database 1210 is capable of providing calibration
Data.Original measurement value 1204 can be in the coordinate system of accelerometer/magnetometer sensor encapsulation.
Magnetometer typically has the magnetic field applied in the field intensity of concern (for example, from -100 to+100 μ T) non-
Linear response.By taking KMX62 as an example, the worst condition error in the range of this is about 2%.Factory calibration procedure can be in each magnetic
The actual curve of each axis is provided on the basis of power meter, for example, output voltage=offset+gain * applied fields+F_ nonlinearity errons
(applied field).
Nonlinearity erron function can be converted into look-up table and store the table in memory as work by embodiment
A part in factory-run school quasi-ordering.At runtime, system can be exported according to magnetometer and temperature sensor exports the two to look into
Look for true field.Therefore, the output of box 1206 can be magnetometer/accelerometer readings of temperature-compensating and linearisation.
At box 1208, which can rotate to temperature-compensating and linearisation reading the coordinate system of cart,
Such as coordinate system 230.This rotation provides the measured value in cart vehicle body frame coordinate system.Such as by the way that cart is placed on
On known horizontal surface and read the DC values of accelerometer, database " PCBA to stroller frame angle " 1212 can be will
Dead reckoning system is filled during or after being installed to cart.
In box 1214, the system can NEURAL DISCHARGE BY DIGITAL FILTER generate filtered noise reduction measured value.It is applied
The digital filter frequency response that can have with the cart speed or the wheel speed of rotation 1218 currently estimated and change it is bent
Line.In some embodiments, the digital filter applied can have fixed frequency response curve.In embodiment, often
A wave filter (for example, each rotary shaft) can be the two poles of the earth low pass Chebyshev filter, have the half less than the speed of rotation
Cutoff frequency to inhibit the vibration noise at f0/2 (see, for example, the reference 1070 in Figure 10 B), but be not too low and cause
(course estimation may be caused to lag behind true course for example, cutoff frequency is too low, this is anti-the slow response of the cart of actual steering
Come over that dead reckoning error may be caused).Example cutoff frequency can be that the current speed of rotation is multiplied by 0.375,0.4,0.425
Deng.
At box 1216, which can combine magnetometer data and accelerometer data, and in earth's magnetic field, coordinate is for example
Under North-East Bound cart course is provided in (NED) coordinate.After dead reckoning system is installed on shopping cart, database can be created
" hard iron and soft iron compensation " 1220.A kind of mode of generation database 1220 is to make cart around its vertical axis (for example, coordinate system
Z-axis in 230) rotation is several times.Another method of generation database is using some fixing devices for being suitable for this purpose.
Instead of the flow shown in Figure 12 A, embodiment can implement the replacement flow for course estimation.For example, processing
Unit such as processor 425 can read data from one or more accelerometers.The embodiment can turn accelerometer data
Change stroller frame coordinate, such as coordinate system 230 into.This is capable of providing the tilt estimation of current position and magnetometer output
Reference frame.The system can read data from one or more magnetometers.The embodiment can correct hard iron and soft iron
Distortion.The correction can be based at least partially on the iron distortion correction constant being stored in memory associated with processor and come
It calculates.The system can also be filtered, such as entitled above to eliminate or reduce the noise as caused by local power line frequency
Described in " reducing the error in course estimation " part.The course can be had with the earth's magnetic field of wheeled object position
It closes.The accelerometer alignment of estimation and the correction of offset can reduce the error in this conversion.
H. steady state speed estimation update ring
Figure 12 B show exemplary process flow diagram 1224, and by the flow chart, dead reckoning system can determine wheeled object
The estimated location of body (for example, shopping cart).
Figure 12 B can be since box 1228, and wherein processor can obtain the cart course data in NED coordinates.It pushes away
Vehicle course data can be from flow chart 1200, above-mentioned alternate embodiment or the export of some other method in Figure 12 A.In side
At frame 1232, processor can be estimated from one or more accelerometer renewal speed vectors, as shown in data block 1272.
At box 1236, processor can update yaw estimation from accelerometer data.At box 1240, processor, which can be searched for, to shake
The power density spectrum of dynamic data is to obtain spectral peak, with the most probable frequency for determining wheel rotation and it is thus determined that the speed of wheel.
For example, this can be come using the method above described in the chapters and sections of entitled " being estimated via the longitudinal velocity of vibration analysis "
It completes.The time series of vibration data as shown in data block 1276 can be stored in buffer circle so that old number
It is covered automatically according to by new data.The length for being sized to depend on the time series data needed for vibration analysis of the buffer circle
Degree.
At box 1244, processor can be for example by finding spectral peak of the X-axis acceleration information at first frequency simultaneously
And another spectral peak of the Y-axis acceleration information at the triple-frequency harmonics of first frequency is found to determine whether to be found that vehicle by analysis
Take turns rotation reasonable frequency, as above it is entitled " via vibration analysis longitudinal velocity estimation " chapters and sections described in.Such as
Fruit finds reasonable frequency, then process is directly to box 1252.Otherwise, which proceeds to box by box 1248
1252, wherein speed of rotation search boundary can be widened to carry out next iteration, to improve the possibility for finding reasonable frequency
Property.
At box 1252, processor being capable of renewal speed estimation and accelerometer offset.The velocity estimation can be based on
The identified estimated course and in 1252 predetermined velocity estimation of box in box 1228.The velocity estimation can be used for
Update the data box 1272.The accelerometer can have the offset changed over time.These offsets can slowly change, and
And constant can be derived as within the duration of an iteration of cycle 1224.For example, when embodiment can use one
Between interval in wheel spin data come determine interim at the same time accelerometer deviate, this provides speed
Measured value and the survey for thus providing the difference between speed measured in acceleration such as current iteration and last iteration
Magnitude.Some embodiments can update wherein good wheel spin data available time interval accelerometer offset, and
The noisy time interval of wherein wheel spin data is not updated and deviated.
At box 1256, processor can spread speed estimation estimated with generation position, such as data block 1280.It should
Propagate the summation for the time series that can include such as speed data and velocity vector estimation 1272.At box 1260, place
Reason device is able to determine whether to need the step of position correlation.If it is, process proceeds to box 1268 by box 1264,
Middle processor is able to carry out the step of position correlation.Otherwise, process is directly to box 1268.At box 1268, processing
Device can wait until that next iteration starts and repeats the process since box 1228.For example, the step of position correlation
It can include, start alarm sequence when cart is in warning zone.
In order to illustrate the purpose with simplicity of explanation, Figure 12 is plotted as sequential process.In some embodiments, some are grasped
Make, such as input/output (I/O) operation is as read accelerometer and magnetometer, being overlapped or performing parallel.
I. lasting magnetometer calibration
At least there are three error sources from the magnetometer readings export cart course of dead reckoning system：1) magnetometer senses
The device error of itself.There is such error, sensor reading is not the true magnetic field value (example of sensor accurate location
It such as, can be by the unlimited essence sampled with the practical magnetometer identical time in dead reckoning system and position
True magnetic field sensor output)；2) the true magnetic field at sensor and the error in the how relevant estimation in known earth's magnetic field,
Such as the distortion as caused by the magnetic active material near magnetometer.Standard terminology to this is hard iron and soft iron error, hard iron
It is the material in the case of no external magnetic field applied with permanent magnetic moment, soft iron is no permanent torque but in impressed field
In the presence of magnetized material；And 3) evaluated error of the relationship of magnetometer coordinate system and stroller frame coordinate system.
For certain specific magnetometer types, the embodiment including Kionix KMX62 in temperature and is applied
In certain limitations in the magnetic field added, exist for any given single magnetometer (for example, specific KMX62 on given PCBA)
After PCBA reflux, error 1) it can substantially fix.For KMX62, exposure limits that gain and offset will not permanently change
It is>125 DEG C and 500,000 μ T, this is the situation that cart will not encounter at runtime.Error 1) correction correspond to Figure 12 A in
Box 1206.The chapters and sections of entitled below " example calibrated off-line " include other related description.
Error 3) for example may due to cart handle is abused and be bent cause or dead reckoning system with cart handle
The rotation angle of hand axis, which is changed, to be caused.Box 1208 in Figure 12 A is capable of providing correction and carrys out rotation sensor output to match
Cart coordinate system, but the database (box 1212) that box 1208 uses normally is set once, so after system installation
Afterwards in operation without update.If the data in box 1212 become inaccurate due to for example above-mentioned abuse, position of navigating
The accuracy of Estimation System may reduce.
Embodiment can be by the fact that detect the significant changes situation that may occur in box 1212：When cart exists
When stopping completely on known level surface, the accelerometer readings of rotation be expected to be 1gee downwards and 0gee northwards or eastwards.Such as
Fruit they be not, then embodiment can correct spin matrix 1212 with generate correctly output.
Remaining problem of course precision is error 2) it can and change over time really, such as since oversize vehicle passes through
And dynamically change.Particularly, many shopping carts are made of ferromagnetic material (for example, mild steel).The remanent magnetization of this material
Intensity can change over time (if for example, cart with specific direction long-time storage, what magnetic domain can be subjected to according to cart
Magnetic field is slowly aligned).The intensity of magnetization of the variation of cart can result in the error in estimation course, because measured by magnetometer
It magnetic field may be different from earth's magnetic field.
When needing high-precision compass (for example, for ship or aircraft navigation within time before GNSS), for
The standard solution of this common problem is that the things (ship or aircraft) for being regularly installed to compass is aligned to one
Compass reading is observed in each advance course investigated, and is paid attention to each in the known course investigated in advance of series
Compass error in course.During World War II and before, standard terminology is compass autodyne card, this is one hand-written
, often newer compass error list.
The standard solution of the equipment such as smart mobile phone is to force user's multiple rotary equipment on all three axis, and
Three axle magnetometer output is measured always.If magnetometer is perfect and without error 2), then it is exported by three axle magnetometer
Described point cloud chart will be all on the surface of sphere.However, in practice, due to error 1) and 2), point cloud chart is formed partially
Move ellipsoid.The cloud atlas can be processed to form error 1) and estimation 2).This standard terminology is hard iron and soft iron correction.
The process is described in the art, such as in Freescale application notes AN4246, " Calibrating an
ECompass in the Presence of Hard and Soft-Iron Interference are (in hard iron and soft iron interference
In the presence of calibrate electronic compass) " in.
However, this standard solution is applied to the magnetometer being mounted on wheeled object such as shopping cart, there are one
It is a little difficult：1) it requires to rotate on the axis that installed magnetometer is substantially orthogonal at three.Doing the rotation of three axis with shopping cart may
It is not easy to；2) since this standard solution is not related to temperature-compensating, calibration only has in smaller temperature range
Effect.For the equipment as smart mobile phone, this may not cause concern, because even being best smart mobile phone compass school
Standard also can seldom generate precision, which may be by the shadow of small error caused by temporal drift within the scope of the temperature of appropriateness
It rings.But for the use application based on the disclosure, need such as -15 to 50 DEG C of highers in wide ambient temperature range
The compass accuracy of degree；3) if external magnetic influences (error #2) change, which must repeat, as described above, this energy
Enough it is dynamic.
Advantageously, these difficulties can be overcome in accordance with an embodiment of the present disclosure.According to the dead reckoning system energy of the disclosure
Enough there is the actual value in the earth's magnetic field at system mounting location (for example, the chapters and sections from entitled " example website configuration file "
The index 2 of middle table 1), and error 1 as described above can be compensated respectively).
Shopping cart is normally only capable of rotating around its Z axis, and Z axis normally has the vertical of several years.In order in the side of Figure 12
Data are first filled in frame 1220, setter can be believed in the region in the magnetic field in earth's magnetic field, such as
Outdoor and not too close to any big ferromagnetic object (for example, at least three to five meters away from large-scale sports utility vehicle are remote, from
Automobile is two to three meters remote) at, intentionally rotate cart around Z axis.The one group of point exported from the box 1214 in Figure 12 A can be
The equator of ellipsoid forms thin layer (if for example, cart is fully horizontal and without error 2), these points will form perfect
Circle).Using the information of the actual amplitudes of the horizontal component about earth's magnetic field, embodiment can be solved on the X/Y plane of cart
Soft iron and both hard iron effects.By intentionally on non-horizontal surface rotate cart come solve the hard iron on all three axis and
Soft iron problem is possible in theory, but in fact, potential accuracy additional in being estimated in course may not be worth.
After filling box 1220 as described above, cart can come into operation.In operation, embodiment can be in system
Know shopping cart in a period of (being distorted very much because earth's magnetic field is usual in building) outside continuously (for example, periodically
Ground) monitoring process 1214 output.If system is within the period short enough at any time (for example, a few minutes, less than 30
Minute, less than 1 hour) obtain sufficient amount (for example, 5,10 or more) be sufficiently spread out way point (these point by side
Strictly low pass filters frame 1214), then system can re-execute above-mentioned process after initial setup.
If hard iron and the soft iron calibration calculated by the operating process and the value stored in box 1220 are dramatically different, it is
System can update 1220 value.Updated value enables a system to the error 2 that compensation may change over time).
It is what is formed in the time short enough " being sufficiently spread out " " number enough that system designer, which can decide in its sole discretion,
The different way points of amount ".One example embodiment has the following contents：
The sliding window of past 10-20 (for example, 16) seconds of the systems inspection point, and these points are divided into horizontal plane
Four magnetic quadrants (+X+Y ,-X+Y ,-X-Y ,+X-Y).If the point of at least 10% to 15% (for example, 12.5%) is located at each
In quadrant, and at least two quadrants respectively include at least 25% point, then the system can consider and a little be sufficiently spread out.
Using the existing value of hard iron and soft iron compensation matrix 1220, if the arrow in earth's magnetic field associated with any of these points
It measures amplitude and known earth's magnetic field is dramatically different, then the point can may be by ferromagnetic object institute outside closer distortion by it
Obtain and be rejected.This is that the initial calibration procedure of a bootstrap process-filling 1220 should preferably occur in known magnetic
In field (for example, earth's magnetic field at trolley position), but system can be come using the available data value in box 1220 later
When system obtains the valid data for being used for recalibration to solution.
Another embodiment may not be attempted to recalibrate hard iron and soft iron, unless certain quantity point (for example, in addition to
At or below those points such as 0%, 1% etc. of threshold value in sample 10-20 seconds) instruction be not present external distortion-due to
Known magnetic field is significantly different, and the points of refusal are less than threshold value.
The dead reckoning of j.RSSI- auxiliary
As error is accumulated by continuously estimating, the dead reckoning estimation of absolute position may become increasingly to be not allowed
Really.On the other hand, when correctly performing this method, passing through the position that dead reckoning is estimated with the sensor with enough accuracy
Putting increment variation can be quite accurate.As described above, the accuracy estimated by the absolute position of dead reckoning, it can be by making
The position reset of the signal for example from exit marking object and/or RF beacons is positioned with exact position and is enhanced.Pass through position of navigating
The accuracy of the absolute position estimation of predication method can also be by being incorporated to other observable quantitys such as RSSI quilts in estimation procedure
It improves.
RSSI is capable of providing estimating for transmitter such as access point 136 and receiver such as the distance between dead reckoning system
Meter.With reference in figure 13, single rssi measurement value can indicate dead reckoning system be located remotely from access point certain radius (by
Distance indicated by rssi measurement value) circle such as 1310 on somewhere.A series of rssi measurement values can indicate dead reckoning
The somewhere on a circle that system is located in each time of measuring in concentric circles.
Figure 13 shows this concept.As shown in the figure, four rssi measurement values of a row can indicate dead reckoning system
When measuring first time on circle 1305, when second measures it is first-class in circle 1310.Dead reckoning system can calculate first
Incremental changes in position between secondary measurement and second of measurement is the D at X degree1Rice (from 1325 to 1330).Dead reckoning system
It is the D at Y degree that the incremental changes in position between third time measurement can further be calculated second2Rice (from 1330 to
1335) it is and in the incremental changes in position for the third time between the 4th measurement the D at Z degree3Rice (from 1335 to
1340).May only have a series of distance/angle that (or more-longer series may be a less) point set meets measurements on concentric circles
Degree variation.Therefore, theoretically, the estimation of incremental changes in position is added and can be used to really as the distance indicated by RSSI or radius
Determine the absolute position of dead reckoning system.By eliminating the error accumulated in dead reckoning, this estimation may be than only passing through boat
The absolute position estimation that position calculates is more accurate.
In fact, both RSSI and dead reckoning estimation may have error and range (for example, with normal distribution confidence
Horizontal range).Therefore, the estimation of incremental changes in position possibly can not be provided plus the distance indicated by RSSI or radius and be had
The absolute position estimation of pinpoint accuracy.However, since the RSSI quantity that can increase the observable quantity in estimation (or may be to estimating
Meter applies additional constraint), so what the absolute position for remaining able to be improved through dead reckoning using this estimation was estimated
Accuracy.
By dead reckoning system provide course estimation together with for example from site config file about access point position
Information, can be used for improve RSSI accuracy.For example, the antenna for receiving access point signals may not have hemispherical day
Line directional diagram.Course estimation and location information can be used in compensating the directive gain of antenna, so as to improve the accuracy of RSSI.
It can also be realized and be similarly modified by using other observables.Disclosed concept is not limited to answering for RSSI
With.The increased accuracy of location estimation is capable of providing the position reset point benefit that for example RF beacons can be spaced farther open
Place.This can reduce overall system cost or improve the local statues for applying limitation to the installation to transmitter and/or position
(for example, local government's decree and/or landlord's rule) is abided by.
V. sample system embodiment --- shopping cart is gone along with sb. to guard him
A. example system website
Figure 14 shows the example of the plan view 1400 of a retail store system installation.The plan view includes following item：
(1) the navigation behavior of shopping cart can be different region (" shop interiors ") 1410 (for example, in addition to detecting that cart has been enter into
Or leave except shop interiors not tracing positional；Track the residence time (consumer spend many or little time commodity/
Shelf))；(2) what cart may not allow to cross goes along with sb. to guard him boundary 1420.Boundary is gone along with sb. to guard him successively by one group of orderly vertex (Figure 14
In six vertex 1425) between one group of side define, and open or closed polygon can be formed；(3) entrance and
Outlet (in this particular example, two outlets 1415 also serve as entrance).Physical obstacle can prevent cart from passing in and out shop, remove
It is non-to pass through entrance；With (4) identify the section 1430 of such as concrete, are different from different surface types such as pitch
1440.As described above, shopping cart go along with sb. to guard him be disclosed technology a kind of possible application, but other application is also relevant
(for example, tracking or monitoring Luggage Cart or warehouse trolley, public cart etc.).Figure 14 has used shopping cart to go along with sb. to guard him and has applied to say
Bright rather than limitation.
For the sake of simplicity, coordinate system can refer to the main shaft in shop.In this particular example, each correlated characteristic<
X, y>Coordinate can be determined relative to the positive central point 1405 in shop.In some embodiments,<X, y>The choosing of coordinate system
Selecting can be for the ease of mounting design (for example, with reference to can determine some go along with sb. to guard him the constructional project on boundary or ownership boundary).
Store exit 1415 is two-way in this particular example, that is to say, that cart is allowed through exit/entry
Enter and leave shop.In some embodiments, the inside in shop be designed such that certain portals be only permitted be into
Mouth is only permitted to be outlet.
B. example website configuration file
Table shown below 1 includes the example versions with 1400 corresponding site config file of example plan view.One
In a little embodiments, the primary copy of site config file can be stored in site controller 1435.In some embodiments, website
Configuration file can be transferred to navigation system via their communication system such as wireless RF technology such as low-power consumption bluetooth (BLE)
System.
In some embodiments, which can create during mounting design process, and such as entitled " example is installed
And calibration " chapters and sections described in.In some embodiments, the configuration file of operating system can be based on changing after initial installation
Change is updated.Configuration version and/or setup time stamp (for example, date) can be included in site config file.Navigation
The embodiment of system can be in the version based on the site controller opposite with the local version of navigation system configuration version and/
Or the value of timestamp field (being referred to as " version number ") come determine whether slave station base site controller request download current version website
Configuration file.Site controller can regularly broadcast its major version number.This can advantageously be reduced and update site configuration text
The relevant energy expenditure of part.In another embodiment, each parameter in home site configuration file can have associated version
This number.The version number of the site config file of its local version can be transferred to site controller by navigation system.Website controls
Device can be parsed by home site configuration file, and can navigation system transmission only version number be later than navigation system version
This number those parameters.This also can advantageously be reduced and the update relevant energy expenditure of site config file.
In table 1, the attribute of italic type be can be detected during learning process in this illustration and/or more
New attribute.For example, during website is installed or is operated, navigation system can detect and the concrete extension joint at certain coordinates
Associated vibration performance.Navigation system can use what it was obtained via such as dead reckoning and/or exact position positioning
Estimated location exports parameter associated with expansion joint, such as spacing and/or width.As another example, navigation system
Vibration performance associated with pitch can be detected at certain coordinates.Navigation system can derived parameter, such as with pitch table
The roughness or coordinate on the associated boundary in face.Navigation system can update it for example in site configuration with this newer information
Memory in file.
This learning process may occur with the time.For example, in such as concrete linkage section 1 at preferred coordinates
Detect expansion joint, it may be possible to the beginning of learning process.Over time, when navigation system has passed through concrete linkage section 1
Whole region when, it can determine seam between spacing.In some embodiments, navigation system can will be in the learning process phase
Between the information that obtains upload central processing unit and be used for the website.For example, as shown in Figure 3, embodiment can pass through communication
System 330 transmits information to system configuration and control device 390.Central processing unit can be configured as processing new information and
Its plan view and/or site config file with its key plate sheet is integrated.Central processing unit can be configured as by
New information downloads to other navigation system.Upload/download can be happened at shopping cart it is estimated by by choke point at, such as enter
Mouth and/or exit.Different embodiments can include different attribute to be detected and/or to be updated during learning process
Group.
The embodiment of navigation system can adjust its Processing Algorithm according to the plan view described in site config file.
For example, navigation system can be directed to different surface types (for example, concrete, pitch, interior etc.) and/or for particular surface
The different roughness factor of type uses different vibration analysis algorithms.
Table 1- example venue configuration file contents
In an installation, site configuration may be changed over time during normal operation.For example, parking lot arrangement changes
Change may cause to go along with sb. to guard him the change on vertex.Site controller can come for example, by updating " configuration version " field of system broadcasts
Propagate change.The intelligent positioning system and/or smart lock fixed wheel of cart such as cart-can via near-field communication (NFC) or
Download from flash card etc. is wirelessly updated.
C. example shopping cart model
Shopping cart in example system can be at any given time in the one mode in several modes.Main fortune
Row pattern includes but not limited to：(1) it is outdoor, it navigates by water (standard surface, such as pitch)；(2) outdoor, navigation (has interim special
Concrete, ceramic tile or other special surfaces of sign)；(3) it is indoor, it does not navigate by water；(4) it is indoor, navigation；(5) it is outdoor, it locks, detection
Return-ing direction；And/or (6) for example can be from doorkeeper's system (Gatekeeper by the shopping cart retriever of dynamic device
Systems) the CartManager XD that (Irvine, CA) is obtained are fetched.
Other than operational mode, additionally it is possible to be updated there are many off line or service mode, such as firmware.In some realities
It applies in example, dead reckoning system can be configured to dynamically change dead reckoning and calculate pattern, if for example, vibration performance is protected
It holds relatively constant and indicates that cart is advanced (for example, indoors) just on the surface of relative smooth, then dead reckoning system can
It is assumed that cart speed constant, until vibration performance substantially changes to indicate that cart is changing speed or substantially more
It is moved on coarse surface in (for example, pitch parking lot).Variation in vibration performance can be via vibration sensor signal (example
Such as, in terms of " g ") increase, increase of oscillation power etc. in oscillation power spectrum (for example, PSD) detects.
D. it leaves detection and outlet identity differentiates
It is expected that shopping cart may pass through entrance and/or the outlet of retail shop.In some embodiments, entrance and exit energy
Enough it is interchangeable, for example, cart can be pushed into shop or cart is released quotient by identical physically opening by store customer
Shop.In other embodiments, dedicated entrance (only allowing access into) or outlet (only allowing to leave) can be used.
For there was only the shop of one outlet, detect it is sufficient that cart is passing through outlet, in this case, go out
Mouth is sole outlet.For the shop with multiple outlets, leaving detection method can identify that cart is specific by which
Outlet.Determine that cart is passing through the function which is exported and is being properly termed as outlet identity discriminating.If the positioning of embodiment is not true
Qualitative to be less than each minimum range exported between geometric centers of other outlets, then embodiment can support outlet identity to reflect
Not.
Present disclose provides several different modes for differentiating outlet.Detection and identification function are provided simultaneously with single feature
Method includes：
Beacon preferably has controlled and relatively narrow beam angle, RF (for example, 2.4GHz) or ultrasonic wave,
Being placed near exit enables cart to be determined to be in wave beam without reaching in wave beam and whole required system
The compatible spatial accuracy of accuracy (for example, in several yards or several meters accuracy), wherein beacon broadcast encode specific outlet
Identity.Also directional aerial can be used, such as by quoting the United States Patent (USP) No.8 that is incorporated into, described in 558,698
Embodiment.Beacon can with but be not necessarily and implement low-power consumption bluetooth (BLE) beacon of Beacon Protocol, such as from Apple
The iBeacon of Computer (Cupertino, CA) or the Eddystone from Google (Mountain View, CA).
Magnetic structure in floor, such as by quoting the United States Patent (USP) No.8 being incorporated into, 046,160 (see, for example, Fig. 9
With Figure 10 and instructions book text) described in magnetic coding car mat.
VLF, wherein VLF is modulated with the unique code for identifying specific outlet.VLF codes can be with passing through reference
It is similar described in the United States Patent (USP) No.6,127,927 being incorporated into.
Accuracy detection function and identification function separate to it may be advantageous.For example, merging cost effective method with high-altitude
Between precision determine cart passing through outlet rather than cart pass through which export embodiment in, the totle drilling cost of realization can
To be lowered by respectively implementing identification function.
E. enter detection
In some embodiments, navigation process can not use indoors, such as not in retail shop.At some in this way
Embodiment in, into detection terminate dead reckoning navigation process (until cart leaves shop again).It may not be needed with spy
Not high spatial accuracy determines entry event.
Entrance can be by detecting with reference to the same characteristic features listed in chapters and sections immediately above with compass/magnetometer use.
For example, if the same face of all entrance and exits along shop, is detected in the marker along the inlet/outlet in course
One it is sufficient that.
F. the dead reckoning error of accumulation is reset
It may accumulated error in dead reckoning system.Some embodiments can use external reference, and (its position is accurate
It is known) with to the dead reckoning system of cart provide reference position.Reference position can be used as follow-up by dead reckoning system
The new initial position that dead reckoning determines.This can reduce or eliminate the dead reckoning error of prior cumulative.It is described herein
For inlet/outlet detect or differentiate any one of beacon, directional aerial, magnetic texure or VLF can be enough
In to cart provide reference position.
G. example intelligent positioning system embodiment
Figure 15 A show the block diagram 1500 of the embodiment for the intelligent positioning system applied for shopping cart.Microcontroller
1530 can provide processing function for system.Microcontroller is able to access that non-volatile and/or volatile memory.Optionally
GNSS receiver for example can provide GNSS location positioning to system to microcontroller 1530.Alternatively or in addition, it is optional
EAS field detectors 1515 can to system provide EAS bit put positioning.If it is available, GNSS and/or EAS bit put positioning can
It is used to for accurate GNSS and/or EAS position position reset, and can be used for removing any accumulation by dead reckoning
Evaluated error.Device can use optional GNSS when system is in outdoor for example in the unobstructed visual field of GNSS satellite
Receiver, and optional EAS field detectors are used when at the position where such as EAS transmitter indoors.Another kind dress
Putting can have positioned at indoor and outdoor EAS transmitter, and can indoors with the optional EAS field detectings of outdoor application
Device.Another device can have interior GNSS pseudo satellite, pseudolites, and can indoors with the optional GNSS field detectings of outdoor application
Device.
Accelerometer/magnetometer 1510 is capable of providing the data used in course estimation.Accelerometer/magnetometer can
Wake-up signal is exported to microcontroller.When accelerometer/magnetometer detects movement, wake-up signal can be activated so that micro-
Controller enters state of activation.Advantageously, microcontroller can keep interactive in the case of the wake-up signal of no activation
Low power state, so as to reduce the power consumption of system.
Optional ultrasonic coupler 1520 and vibrating sensor 1535 can provide wheel rotation information to system.This is under
It is described in the chapters and sections in face entitled " the rotation instruction wheel of enhancing ".
Transceiver 1525 can provide communication function via low-power bluetooth.System information such as site config file can
System is communicated to via transceiver.Transceiver also be able to by receive by the signal that is generated in the source of known fixed position come
Position positioning is provided.Transceiver can also be used to for example location-based advertisement of feature.
User notifies interface 1540 that can provide information, message and/or warning etc. to the user of intelligent positioning system.
User notify interface 1540 can include acoustic component such as buzzer, acoustic resonator (for example, sounding instrument) and/or
Visualization element is such as light-emitting diode display, LCD display.
Power supply unit component can include main battery such as CR123A lithium batteries and DC/DC power supply changeover devices such as TI
TPS62740.Using battery as input, DC/DC power supply changeover devices are capable of a variety of DC electricity needed for the various assemblies of output system
Source voltage.
Table 2 shows the mapping of the function in the abstract architecture of Fig. 4.Specific hardware in the example embodiment of Figure 15 is real
It is existing：
Table 2- examples abstraction function to realize mapping
Low cost, high sampling rate, low-power consumption vibrating sensor can use and be similar to commercial low bandwidth mems accelerometer
The middle MEMS technology used is built.The suitable examples of accelerometer with high sampling rate are Kionix KX123 accelerometers
(can be obtained from Kionix (Ithaca, NY)) has per 25.6 thousand samples/secs (ksps) of axis.In some embodiments, it vibrates
Sensor and accelerometer are identical devices.Such embodiment is capable of the output of filter device to obtain vibration data and add
Speed data.For example, vibration data can be obtained by carrying out high-pass filtering to output；Acceleration information can be by defeated
Go out to carry out low-pass filtering (including DC components) to obtain.
Figure 15 B show the block diagram 1550 of the embodiment for the intelligent positioning system applied for shopping cart.In the embodiment
In, all components are all identical with the embodiment shown in Figure 15 A, and are denoted by the same reference numerals.But these portions
The connection of part is different from the embodiment shown in Figure 15 A.Particularly, accelerometer/magnetometer 1510 and optional EAS field detectors
1515 are connected to the secondary processor in 2.4GHz transceivers 1525.Accelerometer/magnetometer 1510, which can have, to be connected to
The additional movement detection of secondary processor wakes up output.Secondary processor (for example, KW31Z) can periodically wake up, with prison
Test case for example wheel rotation, EAS receive etc. events.If detecting event, secondary processor can wake up primary processor with
Perform its function.Advantageously, because the power consumption of secondary processor is relatively low compared with primary processor such as microcontroller 1530, so
This embodiment can have relatively low power consumption.
H. example shopping cart embodiment
1. intelligent positioning system is installed
Figure 16 shows the example of the intelligent positioning system of the display of notice that will be locked with presentation wheel.Example
Such as, as shown in Figure 16, the handle 1610 that intelligent positioning system is installed to shopping cart can be advantageous.Advantage includes：
(1) visual angle of the viewable portion at user's warning interface can be convenient to broad range of user's height；(2) it is received for 2.4GHz
Send out the relatively unimpeded antenna-path of device and optional GNSS receiver；(3) during the cart of event such as mechanization is fetched,
Handle installation site can be more exposed to protection in order to avoid being impacted than the other positions on cart.
Figure 17 shows the side views 1700 of the embodiment of intelligent positioning system 1605.Striped 1705 shows that PCBA's is flat
The direction (PCBA inside the shell) in face in itself.Semicircular structure with protrusion 1710 is for intelligent positioning system to be placed on
Installing mechanism on the handle of shopping cart.When mounted, the handle of shopping cart can be positioned adjacent to the hollow of system centre
In circular portion.The protrusion is a locking folder that can be fixed on system on handle.
2. example locking wheel
In some embodiments, instead of universal wheel front-wheel or other than universal wheel front-wheel, trailing wheel can be intelligent locking
Wheel.In some embodiments, front wheels and rear wheels are all universal wheels, this is below entitled " universal wheel front-wheel and universal wheel trailing wheel "
Chapters and sections in be described.The example of smart lock fixed wheel that can be used together with shopping cart is can be from Gatekeeper Systems Inc.
(Gatekeeper Systems, Inc.) (Irvine, CA) is obtained2.0QS wheel.
Fig. 3 is referred back to, example smart lock fixed wheel 215 can have one or more of following ability and performance：(1)
The ability for example to be communicated using wired or Radio Link 365 via 2.4GHz RF links with intelligent positioning system；(2)
380 ability is locked and unlocked in response to the order from intelligent positioning system.In some embodiments, " locking " includes
Wheel is locked to prevent spin-ended turn and wheel is forbidden to enclose rotate about the axis thereof.For example, locked wheel may be than in unlock (example
Such as, coast) it is actually more difficult to rotate under state rather than rigidly be locked.Locked wheel or locking wheel energy
It is enough to include with the wheel of brake that forbid or prevent wheel from being rotated around the rotary shaft of wheel；(3) wheel rotation 375
The ability and wheel of detection rotate the ability of 375 timestamps；(4) detection movement or the ability there is no movement, so that wheel can
To enter low-power " suspend mode " state when vehicle does not move；(5) detect and decode the (VLF, typically from 3kHz of very low frequency 360
Extending to 30kHz, such as 8kHz) field is for example in United States Patent (USP) No.6, the ability of those described in 127,927.Work as VLF
When the radiating cable of field is located at the boundary that cart is gone along with sb. to guard him, the detection of VLF can be used for driving wheel by intelligent positioning system
Locking mechanism (for example, when wheel moves through and goes along with sb. to guard him boundary) shopping cart to be prevented to be stolen or can also be used as example
By what is obtained from doorkeeper's system (Gatekeeper Systems)Arranging for shoplifting is prevented performed by system
It applies；(6) detect described in the magnetic such as United States Patent (USP) No.8,046,160 of marker 360 magnetic mark object (see, for example,
Fig. 6 to 10 and instructions book text) ability.Specific locking wheel embodiment may not provide all these abilities or can
Additional or different abilities can be provided.
3. wheel/universal wheel configuration
In some embodiments, the position that locking wheel can be forward-mounted, such as universal wheel.In some embodiments,
First locking wheel can be in position forward-mounted, and the second locking wheel can be mounted in back location.Although because after
The cart that continuous promotion only has locking wheel at rear portion may be easier, and be may think that and be not intended to only have one or more at rear portion
Locking wheel, but some embodiments can be configured with and be installed in locking wheel in back location.Entitled " universal wheel front-wheel
With universal wheel trailing wheel " chapters and sections describe the embodiment that all four wheels of cart are all universal wheel.
In at least four different configurations that can have the wheel and universal wheel on cart in accordance with an embodiment of the present disclosure
It is a kind of：
One, cart has-trailing wheel of non-universal wheel.At least one of trailing wheel can have rotation to detect and calculate/patrol
Collect the intelligence wheel of processing capacity.Universal wheel front-wheel can be equipped with locking mechanism.It can be advantageous with locking front-wheel, because
Rear wheel barrows only to have locking can be pushed easily；Shopping cart, which is gone along with sb. to guard him, to be therefore difficult to realize.This configuration
It is the default configuration of the disclosure.However, the disclosure is not limited to this configuration.
Need position tracking ability rather than by the cart Support Function of wheel lock (for example, only keeping track shopping cart
Movement or using only from dead reckoning system audio/visual alert) device can have nonlocking front-wheel, such as
There is no the wheel of electronic device and/or locking mechanism.
In a second configuration, smart lock fixed wheel can be front-wheel.Intelligent wheel is able to carry out described in the disclosure
Institute is functional, such as rotation counting, wheel coherent detection and locking and unlock.
In the third configuration, all four wheels are all universal wheel (for example, this may be common in Europe).Cause
This, cart " can crab "-cannot keep straight on forward or backward.In this configuration, both front wheels and rear wheels can have each
Kind detection function.In this configuration, the effect of main wheel can change relative to state transition graph 560 between front and rear
Become.Embodiment can use rear portion intelligent vehicle wheel as acquiescence main wheel and be converted into forepart as main wheel as needed
Intelligence wheel, for example, when cart moves backward and is such as pulled rather than pushed by handle always.In addition description, please
Refering to the chapters and sections of following entitled " universal wheel front-wheel and universal wheel trailing wheel ".
In the 4th kind of configuration, trailing wheel is signaled in intelligent positioning system without having any intelligence, example in trailing wheel
Such as, it is hit by the ultrasonic tuning fork in wheel.This configuration will be described immediately below.
4. the rotation instruction wheel of enhancing
One embodiment of wheel is using tuning fork as the method that rotation information is sent to dead reckoning system.Tuning fork and
Striker can be placed in wheel, to generate the shock of tuning fork when wheel rotates every time.For example, tuning fork can be placed on
In the stationary part of wheel, such as it is attached to axletree.Striker can be placed in the rotating part of wheel.In some implementations
In example, which can overturn, such as tuning fork rotates and striker is static.The rotation instruction wheel of this enhancing can detect vehicle
Wheel rotation is without the electric energy in wheel.This can be realized for example, by sonac dead reckoning system.Ultrasound passes
Sensor dead reckoning system can detect the associated ultrasonic pulse of wheel rotation that tuning fork is hit with causing.Ultrasonic energy can
By air or by the structure of wheeled object sonac is traveled to from wheel.
The resonant frequency of tuning fork is provided by equation (1)：
Wherein f is resonant frequency, and l is the length of tuning fork, and E is the Young's modulus of material, and I is the secondary of the area of tuning fork
Square, ρ are the density of material, and A is the cross-sectional area of tuning fork.
For example, the tuning fork made of 308 stainless steels of the rectangle tuning fork with 1.1mm width and 5mm length, has and is higher than
The resonant frequency of the 22kHz of human hearing range.
One or more wheels of wheeled object can be the wheel for having tuning fork.Wheel with tuning fork and striker can
With low component costs and low cost of energy (for example, do not need to electric power to generate ultrasonic pulse) so that multiple enhancings
Rotation instruction wheel becomes cheap and practical solution.It can be obtained more accurately by using this wheel of more than one
Wheel spin data.For example, by comparing the data from different wheel, can identify due to bad between wheel and ground
It contacts and issuable bad data.As another example, changing cart course means the speed ratio of universal wheel front-wheel
Trailing wheel on wheel shaft is more.Spin data from both front wheels and rear wheels can be used in the course estimation of variation.
In the case where more than one wheel has tuning fork, since manufacture changes, each tuning fork, which can have, is different from it
The resonant frequency of physical characteristic difference.The resonant frequency of each wheel can be characterized during cart manufacture/installation and
It is stored in memory.The calibration data of temperature range of operation Internal resonant frequency can measure in the fabrication process and by
Storage is in memory.Dead reckoning system can distinguish the source of ultrasonic pulse, and root by the resonant frequency of pulse
According to need carry out temperature-compensating.
In one embodiment, wheel shaft can be rigidly secured on universal wheel tuning fork；Wheel rotating part (for example,
Wheel hub and lid) it can be rotated around the wheel shaft with a pair of of water-sealed bearing.The structure that tuning fork is rigidly attached with wheel shaft wherein
In, the ultrasonic energy from tuning fork can be coupled in entire universal wheel tuning fork.Striker can be molded in rotary part
In one of them, either wheel hub or cover board.
For the cart of the trailing wheel with non-universal wheel, universal wheel tuning fork can be welded directly on stroller frame.
In this embodiment, ultrasonic energy can be connected by the entire frame of cart.According to the details (example of cart handle structure
Such as, some cart handles are mechanically directly to be connected to the welded still pipe of frame rest part；Other are plastics or glass fibre,
Both of which can be damped seriously at ultrasonic frequencies), ultrasonic energy will be coupled directly in intelligent positioning system or will
Via the Air Coupling near intelligent positioning system.
For the cart with all universal wheel wheels, the rear portion universal wheel of tuning fork is hard-wired to via non-rotating shaft
Tuning fork is capable of providing sizable area, about 30 to 40 square centimeters, and acoustic energy is coupled to air (from this energy coupling
In ultrasonic receiver into intelligent positioning system).Because from intelligent positioning system (for example, on handle unit) in air
Shorter sense of hearing path can provide stronger signal at receiver, and embodiment can use rear portion rather than forepart.
5. example alerts/locks locking/unlocking behavior
The behavior (for example, sending notice and in the case of wheel lock and unlock to user) of cart can be into
Row adjusts meet the needs of customer.In some embodiments, cart includes following item close to the behavior for going along with sb. to guard him boundary：(1) when
When the estimated location of cart is in the certain distance for the closest approach for going along with sb. to guard him boundary, for example, field of the distance by current active configuration
WarningDistance (for example, being shown in Table 1) is provided.
Navigation system, which can alert user lock event, to be occurred.The a variety of warning distances of user might have not
Same notice, such as work period different in different LED colors or flicker frequency, buzzer etc..(2) estimating due to cart
Meter position, which is crossed, goes along with sb. to guard him boundary, then navigation system being capable of the locking of order locking wheel.(3) wheel can keep locking, until for example
It is carried out by store employee using the handheld device for for example generating specific wireless order (for example, RF 2.4GHz orders) to wheel
Unlock.
In some embodiments, when cart from go along with sb. to guard him boundary pushed or pulled retreat certain distance (for example, direction
Shop retreats) when, wheel can be unlocked.Since wheel is locked, the rumble spectrum of cart may be with wheel on same surface
The situation of upper rolling is different.Rumble spectrum can be analyzed in a pre-installation or in installation process.Site config file can wrap
Other parameter is included to support this use pattern.
It attempts to steal cart by dragging (far from line is gone along with sb. to guard him) backward in order to prevent, is being pushed inwardly back or is towing back to
When need the system of unlock behavior that can include universal wheel wheel, which includes magnetometer/compass, and using vehicle
Magnetometer/compass in magnetometer/compass rather than dead reckoning system in wheel is as the course source during lock-out state.It is located at
Magnetometer in cart handle is forward according to cart or moves backward and may not indicate two different courses.The opposing party
Face, since universal wheel wheel is according to the steering of the moving direction of cart, so the magnetometer on universal wheel wheel can push away
Vehicle moves backward rather than is indicated when moving forward different directions.
I. example Installation And Calibration
Such as example website configuration file as shown in Table 1 can be created by mounting design process.Mounting design mistake
Journey can offline, using tool for example using the application programming interface (API) of map provider (for example, Google
Maps API) custom application carry out, with the space characteristics of identification concern (for example, outlet, entrance, going along with sb. to guard him vertex, coagulation
Native part etc.).During mounting design, the relative coordinate of these features can be obtained from upper air map.The information obtained
Cross reference and verification may be carried out with the order of customer.In website installation process, the letter that is obtained in the design process
Breath can be confirmed by the actual observation at website.
Some embodiments of the system can allow for the existing purchase at intelligent wheel and the intelligent positioning system scene of being installed to
On object vehicle.Physical installation of the intelligence wheel on cart is well understood by (for example, existing Gatekeeper Systems2.0QS).Intelligent positioning system installation can depend on the embodiment of cart handle.To the firm of then cart
Property vehicle frame a part handle, intelligent positioning system can be included in magnetometer on printed circuit-board assembly (PCBA) and plus
Speedometer.Various calibration procedures can perform as described below.
1. example calibrated off-line
In some embodiments, dead reckoning system can including Service Technicians can by its come start service/
The mechanism of service mode, calibration can be subpattern.
One exemplary method of triggering service/service mode is that permanent magnet is maintained at dead reckoning in a particular direction
Beside system.DC magnetic fields can detect by magnetometer, and dead reckoning system can will be with appropriate intensity and direction
Field is interpreted as the order into service mode.
Once service starts, dead reckoning system can be via low-power consumption bluetooth and handheld device such as smart mobile phone or flat
Plate computer (for example, iOS or Android device) communicates.Handheld device can include application software, in a calibration process
Help mounting technique personnel.
In order to communicate with each unit, wheel and dead reckoning system can be in its RF (for example, 2.4GHz) chains
Road has unique media access control (MAC) address.
By the body shell of 3 axis orientations of accelerometer to cart, it may be advantageous.The rigid body coordinate of cart
The example of system shows in the system 230 of Fig. 2：Forward, to the left, z is upward by y by x.By the calibration application program in handheld device,
Mounting technique personnel can cart it is horizontal whenever orientation accelerometer.In view of shopping cart is horizontal knowledge, accelerate
How direction of the degree meter in xz planes can resolve into x and the z-axis of accelerometer according to gravitational field to determine.If due to pushing away
Handlebar from the displacement of y-axis need when, accelerometer can be by that will push away relative to the orientation of the cart car body in x/y plane
Vehicle is performed along linear pushing (acceleration).
Magnetometer can be determined relative to the orientation of accelerometer when manufacturing dead reckoning system PCBA.Three magnetometers
The calibration of the offset of axis and gain can as a part for dead reckoning system manufacturing process, such as by via
Helmholtz or Maxwell coils apply a series of known magnetic fields to perform to magnetometer.Magnetometer is to known application
The response in magnetic field can be used for the calibrating patterns that generation can be used for being converted to original magnetometer readings magnetic field.
Magnetometer may usually need hard iron and/or soft iron to calibrate, and be ferromagnetic example particularly in cart handle material
During such as mild steel.For certain purposes, sufficiently accurate hard iron and soft iron calibration can be rotated by Service Technicians around z-axis
Cart performs：Although not exclusively accurate, but as long as shopping cart is limited in close to horizontal surface, this is normal conditions, is made
Can obtain in this way about 2 to 5 degree corrections after course precision.
As described in the chapters and sections of entitled " reducing the error in course estimation ", the inclination on ground may influence above
The accuracy of magnetometer.Vertical component in earth's magnetic field is at the position of about twice of its horizontal component, such as in North America and Europe
Continent realizes that course estimation accuracy once may need correction to be tilted (and horizontal deviation) more than the surface of two degrees.Having
Have at the differently position of Distribution of Magnetic Field, it may be necessary to correct different inclined degrees.
Embodiment can the design object with 1 degree of course accuracy to support the website with hundreds of foot lengths.It is right
For mini site such as commerial strips, relatively low course accuracy may it is sufficient that.It is once above for being better than
Course accuracy is able to carry out more accurately hard iron and soft iron compensation.This method can be for example by will a series of known magnetic
Field is applied to magnetometer to perform, and dead reckoning system is attached to the handle of cart via Helmholtz or Maxwell coils
Hand.Magnetometer can be used for the response in the magnetic field of known application generation and can be used for original magnetometer readings being converted to magnetic
The calibrating patterns of field.Since dead reckoning system is attached in cart handle in a calibration process, which can
Compensate the ferromagnetic material in cart handle.
2. the temperature-compensating of example magnetometer
The dead reckoning system run in retail store environment may undergo wide range of temperature, such as come for a long time
It sees from severe winter to hot summer weather and on short terms from the shop interiors of climate controlling to external climate.Magnetometer
May be temperature sensitive, and may need to compensate in entire operating temperature range.This compensation can help position of navigating
Estimation System reaches required accuracy in entire operating temperature range.The unit of magnetometer may need individually to carry out school
It is accurate.This can during manufacture for example after PCBA (for example, the reflow treatment that can change the temperature curve of magnetometer it
It completes afterwards).Magnetometer data can be measured in the temperature spot of three or more.Calibration data can be stored in memory
In.In operation, the temperature sensor in dead reckoning system is (for example, physically close to magnetometer, such as in magnetometer bare die
On or near or in the distance of the 1cm to 5cm of magnetometer) running temperature can be sensed.Processor can be for example, by being based on
The polynomial interpolation of the calibration data of measured temperature calculates temperature compensation factor.Processor can use this calculating
The factor carrys out the temperature susceplibility of compensation magnetometer.
In order to provide specific example, in the factory, each individually magnetometer can be calibrated (each axis) with
Obtain the offset and gain under the magnetic field value of about ± 50 μ T at multiple temperatures.Needing the quantity for the temperature calibrated can depend on
The gain of how accurate and for magnetometer specific embodiment is needed in temperature correction and is deviated non-linear with temperature curve
How.For example, the KMX62 in being applied for shopping cart, the temperature-compensating of 0.1 μ T in 15 DEG C to 50 DEG C of operating temperature range
Residual error afterwards can be used as calibration target.Minimum output noise level of the KMX62 magnetometers under lowest noise pattern be
About 0.2 μ T.Therefore, according to the intrinsic noise of sensor, the calibration target of 0.1 μ T is reasonable.In factory calibration procedure
The gain and offset of each axis are measured, and result is linearly inserted at three temperature (for example, -15 DEG C, 25 DEG C and 50 DEG C)
Value can generate the RSS errors of about 10nT.
VI. example application
A. technological challenge
Implemented below limitation problem can be gone along with sb. to guard him suitable for shopping cart, and may make in some cases implementation other
Practical solution is challenging or unrealistic.Some in these limitations can also be suitable for other environment or application.
During fabrication, for shopping cart locking wheel, by the cell sealing of wheel, in inside wheel, it may be advantageous.Therefore,
Battery possibly can not be replaced.On the contrary, the handle for being equipped with dead reckoning system can be designed to support replaceable battery (ginseng
See the example in Figure 17).
Some embodiments can include the wheel of energy collecting system, such as United States Patent (USP) No.8, institute in 820, No. 447
Description.In such embodiments, the energy asymmetry between intelligent positioning system and smart lock fixed wheel can overturn (example
Such as, intelligent positioning system becomes than wheel more energy constraint).Energy in intelligent positioning system becomes the amount preserved.In this way
Embodiment in, main process task function can move to smart lock fixed wheel from intelligent positioning system, and intelligent positioning system can
Accumulation course and attitude information are handled with being relayed to smart lock fixed wheel.
B. universal wheel front-wheel and universal wheel trailing wheel
In some embodiments, all four wheels of wheeled object are all universal wheels.In such embodiments, by purchasing
Path is directed toward " forward " used by the velocity vector centered on car body of object vehicle, such as normal two corresponding universal wheel shafts
Between the limitation of line may not apply to.
Figure 18 shows this phenomenon.In Figure 180 0, shopping cart 1805 moves up forwards, such as perpendicular to
On the direction of the wheel shaft of cart.Four wheels 1815 are aligned along the direction that the cart parallel with x-axis moves.Intelligent positioning system
Magnetometer in 1810 generates course according to the direction (for example, x-axis) of cart.
In Figure 183 0, shopping cart 1805 rotates clockwise.Wheel 1815 is according to the direction of motion at each independent wheel
Alignment.However, since the forepart of cart and the rear portion of cart do not turn in the same direction, so four wheels may not
It is in alignment with each other.Direction of the magnetometer based on cart in dead reckoning system 1810 is for example turning to x-axis when starting and at 90 °
Y-axis generation course at the end of steering.Although turning to, magnetometer still is able to generate correct course data.
In Figure 186 0, shopping cart 1805 is parallel to y-axis crabbing, such as to lateral movement.Four wheels 1815 rotate with
Y-axis is parallel to be aligned in the direction that cart moves.But cart course is not detected in the magnetometer in dead reckoning system 1810
Variation.Magnetometer output can be essentially identical with the output in Figure 180 0.Dead reckoning based on magnetometer output can produce
The location estimation of raw mistake.As shown in Figure 189 0, other than forward direction, four universal wheel wheels on all directions
Similar error will occur.
A solution there is no the constraint is to include magnetometer at least one wheel, such as course/ten thousand
To wheel angle detector 385.Dead reckoning system can be by the magnetic force in the magnetometer readings and intelligent positioning system in wheel
Meter reading combines the course to estimate cart.For example, when the reading from two magnetometers has larger difference, it can
Detect crabbing movement (for example, as shown in Figure 186 0 or 1890), and the then magnetic not in intelligent positioning system
The follow-up variation of the course estimation of power meter.For such movement, system can use the data of the magnetometer in wheel
Rather than from the data of the magnetometer in intelligent positioning system.As another example, when the reading from two magnetometers
During with larger difference, it is able to detect that divertical motion (for example, as shown in Figure 183 0), and is followed by determining from intelligence
The follow-up variation of the course estimation of magnetometer in the system of position.However, it is only used other than the magnetometer in intelligent positioning system
Divertical motion is distinguished and may calculated with what other kinds of movement such as crabbing moved by the magnetometer in one wheel
On be expensive.
In another solution abandoned to cart movement associated with universal wheel front-wheel and universal wheel trailing wheel
It is to include magnetometer at least one front-wheel and a trailing wheel.It is for example, about front-wheel that the course of cart car body, which can be estimated,
With the average value in the course of trailing wheel.In such embodiments, the rotation that wheel can be stored at least with timestamp detects together
Original magnetometer readings；These original magnetometer readings can be with intelligent positioning system magnetometer and accelerometer time series number
According to being handled together, to generate the course history of cart.Pass through the magnetometer at least one front-wheel and a trailing wheel, system
Reading moves to distinguish divertical motion and crabbing while can be by comparing the magnetometer readings from front-wheel and from trailing wheel.
Additional or interchangeable solution is to provide a kind of sensor, and wheel can be directly true by the sensor
Fixed angle between its universal wheel angle, such as wheel movement direction and cart car body.
C. indoor mode
Indoor dead reckoning can be used for multiple functions, including but not limited to：(1) tracking shopper behavior (for example,
Residence time and movement in entire shop), for example to shopper sending for reprocessing analysis or for real-time behavior has needle
Advertisement (it can be exported on the display for the intelligent positioning system for being attached to cart handle), a large amount of shopping carts of estimation to property
Going to checkout area (for example, to increase the quantity of checkout personnel) etc.；(2) inferred using dead reckoning estimation into shop row
Surreptitiously, for example, be advanced through (and may pause at) the easy stolen object (such as wine or cosmetics) with high value shop
Region, subsequent cart movement is towards outlet without passing through checkout stand.Indoor dead reckoning can advantageously provide direction and speed
Spend information.Which enhance the possibilities correctly inferred to entering shop stealing.For example, entering into shop is just being rushed at it than cart
During mouth/outlet, cart is more likely related to shoplifting when it just rushes at the inlet/outlet for leaving shop.As another
Example slow transits through the shopping cart of checkout stand (for example, and stopping) compared with the purchase quickly through checkout stand (for example, not stopping)
Object vehicle unlikely participates in shoplifting.
Commodity loss prevention based on dead reckoning realize can based on from the dead reckoning user that obtains of estimation or
Shopping cart behavior.For such application, such as United States Patent (USP) No.8 can be used using the position tracking of dead reckoning system,
570,171(System for Detecting Unauthorized Store Exit Events Using Signals
Detected by Shopping Cart Wheels Units (be used for using the signal detected by shopping cart wheel unit Lai
The shop system of leaving event of detection unauthorized)) disclosed in two-way communication replace position tracking.Advantageously, it uses
The position tracking of dead reckoning system can not need to signal source such as electronic article surveillance tower, the access point of fixed position
Deng so as to reduce the infrastructure cost of monitoring system.The full content of United States Patent (USP) No.8,570,171 passes through reference herein
In being fully incorporated herein.
Relative to the embodiment of outdoor utility, be adapted for carrying out the embodiment of function in these example rooms can include it is following
One in modification or two：(1) from magnetometer readings to the modification of the transmission function in Geographic Reference course.(2) optimization is used for
Ceramic tile much more smooth than pitch or the rotation algorithm for estimating on malthoid floor.
Magnetic field in building (for example, shop) may compare serious distortion with the earth's magnetic field at building object location.The distortion
May mainly it be caused by the induced magnetization in the ferromagnetic element of building (for example, structural steel).Embodiment can be into building
All magnetic vectors measured add single constant correcting vector to correct the magnetic field of distortion.Correcting vector can be in shop
The spatial averaging of difference between the earth's magnetic field at true field and store locations measured at difference.The energy of averaging
It is enough with cart may be expected to by shop in position corresponding set occur.
Some embodiments can be performed including the map of magnetic field correction vector is stored in for example corresponding in previous paragraph
Correcting scheme in the sparse grid of each point of the set referred to.Such as the navigation algorithm energy run on dead reckoning system
Instantaneous correction vector is enough inserted into based on current dead-reckoning position.Dead reckoning system can be stored in by correcting vector
In memory (for example, as look-up table).
At the website such as ceramic tile on ground with the seam of aturegularaintervals, dead reckoning algorithm can use vibration analysis
Tile seam is being passed through to detect cart.The distance advanced between seam crosspoint can be simply the size of ceramic tile.Boat
Required for estimation is capable of providing in the distance estimations when cart is not advanced along straight line and does not cross Tile seam with right angle
Adjustment.Ceramic tile is sized in site config file store as parameter.
The basic thought at detection and the expansion joint in counting concrete can be suitable for the counting in indoor ceramic tile crosspoint.Ring
Border level of vibration can be well below indoor (since indoor floor surface be smoother compared with outdoor face), and comes from ceramic tile
The amplitude of the coupled pulse of seam can be more much lower than the amplitude of concrete extension joint.
Specifically, it can be functioned as described below for tracking the embodiment of the position of indoor shopping cart：
Enter shop when entering shop, such as by the store exit 1415 in the store exit 126 or Figure 14 in Fig. 1
Inside can use entrance (outlet) position as the initial position of dead reckoning and start equipped with the cart of dead reckoning system
Indoor tracking.This position can with or cannot pass through specific be accurately positioned (for example, magnetic characteristic) of known point in shop
Reading enhances.Equally when entering shop, cart, which can receive, starts indoor navigation signal.This starts indoor navigation signal
Operating parameter can also be provided to cart.The trip information can be used in identify shop in key position and with triggering
The antitheft associated region of logic.For example, when shopping cart enters shop, can provide checkout lanes in its shop and/or
The coordinate of pay point.The coordinate for triggering antitheft logic can also be provided.By these information in system, if or trolley wear
When crossing the boundary in one of them antitheft region, system can be triggered not to be accessed pay point or is settling accounts what is registered to prevent thrust vehicle
In the case of leave shop.
When indoors, cart can be identified by dead reckoning its whether by register channel or whether the branch in shop
It pays and hands at incident position.For example, by combining the position of cart and utilizing movable information such as course and speed, embodiment
It can determine whether shopping cart is being registered near channel or pay point and shown associated with the shopper to pay the bill for commodity
Movement locus.It is authorized to if it is, system can register cart and leaves shop (for example, by the way that the state for leaving mandate is set
It is set to licensing status), do not lock wheel and/or triggering alarm on the road for leave shop.After shopping cart leaves building, it is
System can terminate indoor navigation pattern, remove the state for leaving mandate, and proceed by outdoor navigation in triggering.
On the other hand, if cart is in shop and is trying to exit from that whenever not complying with for shop buys commodity
Condition, then system can be determined via dead reckoning logic cart just trying to exit from but without be authorized to leave shop.System
Wheel and/or triggering alarm can be locked.Alarm can be on cart and/or outside cart, such as can determine with intelligence
On the electronic article surveillance tower of position system communication.Triggering burglary-resisting system can be with reference to the commodity of high value and/or high risk for example
The regions such as wine, health ＆ beauty are completed.Alternatively or in addition, triggering burglary-resisting system can pass through boundary line based on cart
Such as it completes in the near exit in shop.
In order to increase the accuracy of dead reckoning algorithm, true field that embodiment can be read and shop it is previous
It draws and is compared in the magnetic field of record.Key point in shop can be surveyed in system erection stage；These key points
Magnetic characteristic can be stored in table.When system detects it close to one of these characteristic points via dead reckoning navigation
When, its actual read number can be compared by it with the reading stored, and can determine that it when practical is being stored
Near the reading point of magnetic field.This can be used in resetting the error in dead reckoning algorithm.
D. via the location estimation of radius positioning or hyperbolic fix
Instead of or in addition to other than dead reckoning, embodiment can be estimated using RF signals by radius positioning come execution position
Meter.For example, 395 in the RF beacons of single cooperation/anchor point such as Fig. 3, position known to navigation system can be located at.RF believes
The transmitter that mark or navigation system can be positioned as radius；Another equipment is receiver.
Can change frequency in transmitter and receiver (has the RF cores of this ability without changing each frequency synthesizer
Piece includes NXP MKW31Z and Microchip AT86RF215) in the device of the phase of following phaselocked loop (PLL), transmitter
It can be transmitted in several different frequencies.The phase difference in path can be estimated from the signal received.This phase
Difference can be calculated as radius (for example, the distance between transmitter and receiver) mould wavelength under the specific frequency.Used in several
Phase difference derived from a frequency can calculate the single value of radius, such as can to find by modularization algorithmic approach
The radius value of the measured all out of phase values of matching.In fact, in the case of noise and other problems, modularization arithmetic
Method can be used together with best fit estimator.
In RF and all available device of ultrasonic transmitter and receiver, radius positioning can be by using RF signals and super
Acoustical signal is computed.Fixed cell such as beacon can be ultrasonic transmitter.This can be preferred embodiment, because super
The sound transmission consumes more power than ultrasonic reception, and because fixed cell is typically capable of with line power.However, wheel
Formula object is also used as ultrasonic transmitter.In request radius positioning (such as from wheeled object or fixed cell, such as in
Entreat what processing system was initiated) when, transmitter can send RF transmission and ultrasonic pulse string simultaneously.Radius can be calculated as receiving
The difference divided by the velocity of sound of time.
Instead of or in addition to other than dead reckoning, device can provide location estimation via hyperbolic fix.Such dress
Put antenna (for example, 900MHz or 2.4GHz) there are two can having in affixed side, such as the RF receivers in fixed position.This
Each in two antennas can be connected to the input terminal of RF phase detectors via the coaxial cable of known length.RF phases
Detector can export the phase difference between two input terminals.Wheeled object with intelligent positioning system can be in several differences
Frequency on sequential delivery.This operation can be similar to first example of above-mentioned radius positioning, in addition to not having requirement transmitting
Device can change phase of the frequency without changing following PLL.Affixed side can obtain a series of letter of phase differences as frequency
Number.Using the same procedure described in first example positioned with radius, symbol differential distance can be exported from phase difference.
The symbol differential distance can define the half of hyperboloid of two sheets.If wheeled object is limited on aircraft, such as in shopping cart
In the case of, aircraft and bi-curved intersection are hyperbolas.The position of cart can estimate it is on hyperbola.Radius position or
Hyperbolic fix can be estimated to be used in combination with dead-reckoning position, to improve the accuracy of position positioning.
E. other aspect
In the 1st aspect, a kind of navigation system for wheeled object, the navigation system includes：Vibrating sensor；And
Hardware processor, the hardware processor are programmed with executable instruction, for analyzing the vibration from vibrating sensor
Data are with the speed of rotation of the wheel of determining wheeled object.
In the 2nd aspect, the navigation system as described in terms of the 1st, wherein hardware processor is programmed to analyze
The frequency spectrum of vibration data.
In the 3rd aspect, navigation system as in the second aspect, the wherein hardware processor are programmed to identify
The first peak value in the frequency spectrum, the peak value with and the forward direction or backward directions of wheeled object in vibration vibration data phase
Association.
In the 4th aspect, the navigation system as described in terms of the 3rd, wherein hardware processor is programmed to wheel
The speed of rotation is determined as the harmonic frequency of the frequency of first peak value.
In the 5th aspect, the navigation system as described in terms of the 4th, wherein hardware processor is programmed to pass through
The presence of the second peak value at the harmonic frequency of first peak value is analyzed to verify the speed of rotation.
In the 6th aspect, the navigation system as described in terms of the 5th, wherein hardware processor is programmed to analyze
The presence of second peak value of the frequency spectrum at the first odd harmonic frequencies of first peak value.
In the 7th aspect, the navigation system as described in any in terms of the 1st to 6, wherein hardware processor is programmed to
For the perimeter based on the identified speed of rotation and wheel, the speed forward or backward of wheeled object is estimated.
In the 8th aspect, the navigation system as described in any in terms of the 1st to 7, wherein navigation system is configured as connecing
The information related with reference position is received, and the hardware processor is programmed to be based at least partially on the reference position to reset
The position of wheeled object.
In the 9th aspect, the navigation system as described in any in terms of the 1st to 8, the wherein hardware processor is further
It is programmed for counting rule boundary on the surface passed through in wheeled object.
In the 10th aspect, the navigation system as described in terms of the 9th, wherein hardware processor is programmed to analyze
The time domain sequences of vibration data in vertical axis.
In the 11st aspect, the navigation system as described in any in terms of the 1st to 10, wherein hardware processor is programmed
For magnetic field application correction maps over the ground to compensate due to there are magnetic element and to the disturbance in earth's magnetic field.
In the 12nd aspect, the navigation system as described in any in terms of the 1st to 11, the wherein hardware processor are by into one
Step is programmed for being based at least partially on the pattern that vibration data dynamically changes DR location estimation methods.
In the 13rd aspect, the navigation system as described in any in terms of the 1st to 12, wherein wheeled object is pushed away including manpower
Dynamic cart.
In the 14th aspect, the navigation system as described in terms of the 13rd, wherein DR systems are installed in the handle of cart.
In the 15th aspect, a kind of navigation system of cart for Manual-pushing, the navigation system includes：Magnetometer；
Accelerometer；Vibrating sensor；The communication system with the wheel communication of the cart of Manual-pushing is configured as, which includes quilt
It is configured to forbid the brake of the rotation of the wheel in response to receiving locking signal；And hardware processor, it is programmed
For：The vibration data from vibrating sensor is based at least partially on to estimate the speed of the cart of Manual-pushing；And at least
The estimating speed of the cart is based in part on to estimate the position of the cart of Manual-pushing.
In the 16th aspect, the navigation system as described in terms of the 15th, wherein hardware processor is programmed at least portion
Ground is divided to determine whether the cart has passed past based on the estimated location and go along with sb. to guard him boundary, and determined in response to this, locking signal is passed
Up to giving the wheel.
In the 17th aspect, the navigation system as described in terms of the 15th or 16 further includes detector, which is configured
To be used to detect whether expression cart respectively to enter or leave the entering signal in shop or leave signal.
In the 18th aspect, the navigation system as described in terms of the 17th, the wherein detector by search for entering signal or
The peak value in the received signal strength indicator device (RSSI) of signal is left to determine whether cart is entering or leaving shop.
In the 19th aspect, the navigation system as described in any in terms of the 15th to 18 further includes audible or visual instruction
Device, described audible or visual detector are configured as providing notice to the user of cart.
In the 20th aspect, the navigation system as described in any in terms of the 15th to 19, wherein cart includes handle, and
And the navigation system is mounted to the handle.
The 21st aspect in, as the 15th to 20 aspect in it is any as described in navigation system, wherein accelerometer be vibrate biography
Sensor.
In the 22nd aspect, the navigation system as described in any in terms of the 15th to 21 further includes temperature sensor.
In the 23rd aspect, the navigation system as described in terms of the 22nd, wherein temperature sensor is physically proximate magnetic
Power meter.
In the 24th aspect, the navigation system as described in any in terms of the 1st to 23, the wherein hardware processor are by into one
Step is programmed for for receiving station configuration data, the site configuration data include with it is one or more associated in following item
Information：(1) boundary is gone along with sb. to guard him, (2) entrance or outlet, the room area of (3) website, the outdoor area of (4) website, (5) tool
There is the region on the surface with special characteristics, (6) earth's magnetic field, (7) are since the magnetic structure at the website or near it is to earth's magnetic field
It corrects, the positioning of (8) reference position or (9) warning distance associated with going along with sb. to guard him boundary.
In the 25th aspect, a kind of air navigation aid for wheeled object, the air navigation aid includes：From fixed known bits
The transmitter at the place of putting obtains the initial position of the wheeled object；The course of wheeled object is obtained from magnetometer；By coming from wheel
The data of revolution meter obtain the speed of wheeled object, and wherein wheel revolution meter includes tuning fork and striker；And at least
The initial position, course and speed are based in part on to estimate the current location of wheeled object.
In the 26th aspect, the method as described in terms of the 25th further includes：The boat of universal wheel wheel is obtained from magnetometer
To；The comparison in the course of wheeled object and the course of universal wheel wheel is based at least partially on to detect universal wheel flutter.
In the 27th aspect, the method as described in terms of the 26th further includes：When speed data is associated with universal wheel flutter
When, omit current positioning step.
In the 28th aspect, a kind of air navigation aid for wheeled object, the air navigation aid includes：From fixed known bits
The transmitter at the place of putting obtains the initial position of the wheeled object；The course of wheeled object is obtained from magnetometer；By carrying out self-excited oscillation
The data of sensor obtain the speed of wheeled object；And the initial position, course and speed are based at least partially on to estimate
The current location of wheeled object.
In the 29th aspect, the air navigation aid as described in terms of the 0th further includes：Temperature in use sensor measurement magnetometer
Temperature；And it compensates on the influence of the temperature of magnetometer.
In 30th aspect, the air navigation aid as described in terms of the 0th, wherein compensate influences to include on the temperature of magnetometer：
After assembling includes the printed circuit-board assembly of magnetometer, magnetometer output is measured at three or more temperature spots；Establishment includes
The calibration data base of measurement data；And it is based at least partially on polynomial interpolation of the calibration data based on measured temperature
Method calculates temperature compensation factor.
In the 31st aspect, the air navigation aid as described in any in terms of the 0th to 0 further includes：It compensates at the magnetometer
Alignment change very between magnetic field and known earth's magnetic field.
In the 32nd aspect, the air navigation aid as described in terms of the 0th, wherein：True magnetic field and known earth magnetism at magnetometer
Between alignment, by far from any big ferromagnetic object outdoor location at around vertical axis wheel object come
It obtains；And the current alignment between true magnetic field at magnetometer and temperature field and known earth's magnetic field, by when short enough
Between in section the sufficient amount of heading reading being sufficiently spread out obtain；And it compensates alignment change to include：To currently be aligned with just
Begin to be aligned and be compared；If initial alignment and be currently aligned it is significantly different, with the current initial alignment of alignment substitution；And
Initial alignment or current alignment are based at least partially on to calculate the course of wheeled object.
In the 33rd aspect, the air navigation aid as described in terms of the 0th, wherein the sufficient amount of heading reading being sufficiently spread out
Including：In each quadrant of the four magnetic quadrants of at least 10% to 15% reading in a horizontal plane, and at least 25%
In two in this four magnetic quadrants of reading.
In the 34th aspect, the air navigation aid as described in any in terms of the 0th to 0, wherein the period short enough is 10
To 20 seconds.
In the 35th aspect, a kind of for detecting the system that unauthorized shopping cart leaves shop, which includes：It is attached to
The dead reckoning system of shopping cart, the dead reckoning system may have access to the shop arrangement in site config file, the shop arrangement
Including exporting the position with checkout stand；It is attached to the locking wheel of shopping cart；Wherein the dead reckoning system is configured as：Use boat
Position is calculated in the position of multiple time Estimate shopping carts；Detection shopping cart leaves event；It is based at least partially on location estimation
To determine whether shopping cart has passed through checkout stand before event is left；And determining shopping cart before event is left
During not over checkout stand, lock command is conveyed to locking wheel；And wherein, which is configured in reception and comes from
The engaging locking mechanisms during lock command of dead reckoning system.
In the 36th aspect, the system as described in terms of the 35th, wherein shop arrangement further includes high-value goods region
Position, and dead reckoning system is configured to determine that before event is left shopping cart is by high-value goods region
During without passing through checkout stand, lock command is conveyed.
In the 37th aspect, the system as described in terms of the 35th or 36, wherein dead reckoning system is further configured
During to determine before event is left shopping cart by by checkout stand without doing shopping, lock command is conveyed.
In the 38th aspect, the system as described in any in terms of the 35th or 37, wherein dead reckoning system is configured
The speed of shopping cart is estimated to the vibration data of shopping cart or the analysis of normal acceleration data to be based at least partially on.
In the 39th aspect, the system as described in any in terms of the 35th or 38, wherein shop arrangement further includes magnetic field
Correcting vector, and wherein the dead reckoning system be configured with the magnetic field correction vector come corrected course estimation.
In the 40th aspect, the system as described in any in terms of the 35th or 39, wherein shop arrangement further includes magnetic field
Correcting vector figure, and wherein the dead reckoning system is configured with the present bit of the magnetic field correction polar plot and shopping cart
It puts and carrys out corrected course estimation.
In the 41st aspect, the system as described in any in terms of the 35th or 40, wherein dead reckoning system is configured as
Audio alert is triggered with reference to lock command is sent to locking wheel.
In the 42nd aspect, the system as described in any in terms of the 35th or 41, the wherein shop arrangement are with further including magnetic field
Figure, the magnetic field map include shop in position and the position at magnetic characteristic, and wherein the dead reckoning system by with
It is set to when detecting magnetic characteristic corresponding with a position, its position is set as the position in the magnetism map.
In the 43rd aspect, a kind of navigation system of the cart for Manual-pushing is provided.The navigation system includes quilt
It is configured for determining the magnetometer in the course of the cart of Manual-pushing；It is configurable for measuring shaking for the cart of Manual-pushing
The vibrating sensor of dynamic data；The communication system with the wheel communication of the cart of Manual-pushing is configurable for, the wheel packet
Include the brake for being configurable for forbidding the rotation of the wheel in response to the reception of locking signal；And hardware processor, it should
Hardware processor is programmed to be used for：The vibration data from vibrating sensor is based at least partially on, to estimate Manual-pushing
Cart speed；Also, the course of the cart of estimating speed and Manual-pushing is based at least partially on, to estimate manpower
The position of the cart of promotion.
In the 44th aspect, the navigation system as described in terms of the 43rd, wherein in order to be based in part on from vibrating sensing
The vibration data of device estimates the speed of the cart of Manual-pushing, which is programmed to analyze vibration data
Frequency spectrum.
In the 45th aspect, the navigation system as described in terms of the 44th, wherein in order to analyze the frequency spectrum of vibration data, this is firmly
Part processor is programmed to the first peak value in the frequency spectrum for identifying vibration data, first peak value with and Manual-pushing push away
Travelling forward or moving associated vibration data backward for vehicle is associated.
In the 46th aspect, the navigation system as described in terms of the 45th, wherein in order to estimate the speed of the cart of Manual-pushing
Degree, the hardware processor are programmed to be used for：The the first peak value speed of rotation of wheel being determined as in the frequency spectrum of vibration data
Frequency harmonic frequency；And the perimeter based on the speed of rotation and wheel, estimating speed.
In the 47th face, the navigation system as described in terms of the 46th, wherein hardware processor is programmed to pass through
It analyzes rumble spectrum and verifies the identified speed of rotation with the presence or absence of the second peak value at the harmonic frequency of the first peak value.
In the 48th face, the navigation system as described in terms of the 47th, wherein hardware processor is programmed to analyze
Frequency spectrum whether there is the second peak value at the first odd harmonic frequencies of the first peak value.
In the 49th aspect, the navigation system as described in any in terms of the 43rd to 48, the wherein hardware processor by into
One step is programmed for counting rule boundary on the surface passed through for analyzing vibration data with the cart in Manual-pushing.
In the 50th aspect, the navigation system as described in any in terms of the 43rd to 49, wherein hardware processor is compiled
Journey is to be based at least partially on the estimated location, determines whether the cart has passed past and goes along with sb. to guard him boundary, and is determined in response to this, will
Locking signal is communicated to wheel.
In the 51st aspect, the navigation system as described in any in terms of the 43rd to 50 further includes detector, the detector
It is configurable for detection and represents whether the cart of Manual-pushing enters or leave the entering signal in shop or leave signal respectively.
In the 52nd aspect, the navigation system as described in any in terms of the 43rd to 51 further includes received signal strength and refers to
Showing device (RSSI) detector, the wherein hardware processor is programmed to the RSSI signals for being based at least partially on measured,
Update the estimated location of the cart.
In the 53rd aspect, the navigation system as described in any in terms of the 43rd to 52, further include be configurable for from
The RF receivers of external radio frequency (RF) transmitter receipt RF signals, the wherein hardware processor are programmed at least partly
Based on received RF signals, the estimated location of cart is updated.
In the 54th aspect, the navigation system as described in terms of the 53rd, the wherein hardware processor are programmed to be used for extremely
The RF phase differences estimated using the RF signals are at least partly based on, estimate the distance of the external RF transmitter.
In the 55th aspect, the navigation system as described in any in terms of the 43rd to 54 further includes and is configurable for surveying
The temperature sensor of the temperature of magnetometer is measured, the wherein hardware processor is programmed to for being based at least partially on the temperature,
To compensate the temperature control of the magnetometer.
In the 56th aspect, the navigation system as described in any in terms of the 43rd to 55, wherein magnetometer is configured as
For providing multiple magnetic readings, and the hardware processor is programmed to be based at least partially on multiple magnetic reading and hard
Iron or soft iron calibrating patterns, to calibrate the magnetometer.
In the 57th aspect, the navigation system as described in any in terms of the 43rd to 56, the wherein hardware processor by into
One step is programmed for for receiving station configuration data, which includes one or more associated in following item
Information：(1) boundary is gone along with sb. to guard him, (2) entrance or outlet, the room area of (3) website, the outdoor area of (4) website, (5)
Region with the surface with special characteristics, (6) earth's magnetic field, (7) are since the magnetic structure at the website or near it is to earth's magnetic field
Amendment, the positioning of (8) reference position or (9) warning distance associated with going along with sb. to guard him boundary.
In the 58th aspect, 43 to 57 in terms of in any navigation system, wherein vibrating sensor includes acceleration
Degree meter.
The 59th aspect in, 43 to 58 in terms of in it is any as described in navigation system, the wherein Manual-pushing cart packet
Handle is included, and the navigation system is mounted to the handle.
In the 60th aspect, the cart of the navigation system in terms of as described in 59, the wherein Manual-pushing includes shopping cart.
In another aspect, shopping cart includes any navigation system in aspect 43 to 60.
In the 61st aspect, a kind of air navigation aid of the cart for Manual-pushing is provided.The air navigation aid includes：With
The magnetic heading of the cart of magnetometer measures Manual-pushing；What the cart of measurement Manual-pushing was undergone when advancing on a surface
Rumble spectrum；The rumble spectrum is analyzed to determine the speed of rotation of the wheel of the cart of Manual-pushing；It is based at least partially on vehicle
The speed of rotation of wheel and the perimeter of wheel estimate the speed of the cart of Manual-pushing；And it is based at least partially on estimating speed
With the magnetic heading of the cart of measured Manual-pushing, the position of the cart of Manual-pushing is estimated.
In the 62nd aspect, the air navigation aid in terms of as described in 61, wherein analyzing the rumble spectrum includes identification and manpower
The cart of promotion travels forward or moves the first peak value in associated rumble spectrum backward.
In the 63rd aspect, the speed of rotation of the air navigation aid in terms of as described in 62, wherein wheel is confirmed as vibration number
According to frequency spectrum in the first peak value frequency harmonic frequency.
In the 64th aspect, the air navigation aid in terms of as described in 62 or 63 is further included by analyzing rumble spectrum first
The identified speed of rotation is verified at the harmonic frequency of peak value with the presence or absence of the second peak value.
In the 64th aspect, 61 to 64 in terms of in any air navigation aid, be included in wherein analyzing rumble spectrum
The counting rule boundary on surface that the cart of Manual-pushing is advanced.
In the 66th aspect, 61 to 65 in terms of in any air navigation aid, wherein wheel is including being configured as using
In the actuator for the rotation for forbidding the wheel, this method further includes：Estimated location is based at least partially on, determines Manual-pushing
Whether cart, which has passed past, is gone along with sb. to guard him boundary；And boundary is gone along with sb. to guard him in response to determining that cart has passed past, brake signal is conveyed so that motor-car
Brake in wheel.
The 67th aspect in, 61 to 66 in terms of in it is any as described in air navigation aid, further include：Measure the temperature of magnetometer
Degree；And measured temperature is based at least partially on, carry out the temperature control of compensation magnetometer.
The 68th aspect in, 61 to 67 in terms of in it is any as described in air navigation aid, wherein being pushed away with magnetometer measures manpower
Multiple magnetic readings when dynamic cart is advanced on a surface；And be based at least partially on multiple magnetic reading and hard iron or
Soft iron calibrating patterns, to calibrate magnetometer.
In the 69th aspect, the wheeled cart of Manual-pushing include being configured as it is any in performing 61 to 68 in terms of as described in
Air navigation aid navigation system.
In the 70th aspect, the wheeled cart of the Manual-pushing in terms of as described in 69, the wherein navigation system are installed in
The handle of cart is included in the handle of cart.
In the 71st aspect, the wheeled cart of the Manual-pushing in terms of as described in 69 or 70, the wherein cart include shopping
Vehicle.
Additional information
Various illustrative logical blocks described herein, module and process can realize or be performed by machine, example
Such as computer, processor, digital signal processor (DSP), application-specific integrated circuit (ASIC), field programmable gate array (FPGA)
Or it other programmable logic device, discrete gate or transistor logic, discrete hardware components or is designed to perform and is retouched herein
Any combinations for the function of stating.Processor can be microprocessor, controller, microcontroller, state machine, a combination thereof etc..Processing
Device is also implemented as the combination of computing device, for example, in the combination of DSP and microprocessor, multi-microprocessor or processor
Core, one or more figure or stream handle, one or more microprocessors and DSP combination or any other as
Configuration.
In addition, for example due to involved calculating (for example, analysis vibration data and execution dead reckoning navigational calculation)
Amount or complexity or in order to provide result (for example, statistical information about object space) substantially in real time, the disclosure
The certain embodiments of body locating system mathematically, in calculating or be technically enough complicated so that may need special
It is performed with hardware (for example, FPGA or ASIC) or one or more physical computing devices (utilizing appropriate executable instruction)
Function.
The box or state of process described herein can be embodied directly in hardware, deposited being stored in non-transitory
In reservoir and by hardware processor perform software module in, or both combination in.For example, above-mentioned each process can be with body
The software module performed now by one or more machines such as computer or computer processor (is stored in non-transitory to deposit
In reservoir) in and be fully automated.Module may reside within such as RAM, flash memory, ROM, EPROM, EEPROM, register,
Hard disk, CD, firmware can be stored the non-transitory computer-readable mediums such as memory in or any other form meter
Calculation machine readable medium (for example, storage) medium.Computer-readable medium can be coupled to processor so that processor can be from
Computer-readable medium reads information and writes information into computer-readable medium.Alternatively, computer-readable medium can be by
It is integrated into processor.Processor and computer-readable medium may reside in ASIC.Computer-readable medium can include
Non-transitory data memory (for example, hard disk, nonvolatile memory etc.).
Process, method and system can be realized in network (or distributed) computing environment.For example, central control unit or
Base station can be realized in distributed networked computing environment.The computer network of network environment including enterprise-wide, Intranet,
LAN (LAN), wide area network (WAN), personal area network (PAN), system for cloud computing, crowdsourcing calculate network, internet and WWW.Net
Network can be wired or wireless network, ground or satellite network or the communication network of any other type.
According to embodiment, certain actions, event or the function of any process or method described herein can be with not
Same sequence performs, and can be added, merges or be omitted completely.In certain embodiments, and the action of not all description therefore,
Or event is all required for the practice of process.In addition, in some embodiments it is possible to for example by multiple threads, in
Disconnected processing simultaneously rather than is sequentially performed action or event via multiple processors or processor core.In any dress
It puts, in system or method, no element or action are required or indispensable, and disclosed for all embodiments
Devices, systems, and methods can be with shown in being different from or described arrange.
Otherwise understand unless expressly stated otherwise, or in used context, otherwise made herein
Conditional statement, such as " can ", " possibility ", " can with ", " such as " etc. be to be typically aimed at that some embodiments is conveyed to include, and
Other embodiment does not include certain features, element and/or state.Therefore, such conditional statement is normally not intended to imply that one
Characteristics of needs, element and/or state or one or more embodiments necessarily include using a or multiple embodiments in any way
Appoint in deciding whether that these features, element and/or state are included in the case where inputting or prompting with and without author
Or by the logic that is performed in any specific embodiment in what specific embodiment.Term " comprising ", " having " etc. are synonyms,
And it is used to inclusive in a manner of open, and is not excluded for additional element, feature, action, operation etc..In addition,
Term "or" is with it includes property meaning (rather than its exclusive meaning) use, therefore when for for example connecting series of elements,
Term "or" means one, the element in some or all lists.
Unless stated otherwise, otherwise connection voice such as " at least one of X, Y and Z " is commonly used ring
Understood in border, can be X, Y or Z for expressing project, term etc..Therefore, it is such to connect language normally not
It is intended to imply that at least one of at least one of at least one of some embodiments requirement X, Y and Z presence.Article " one "
Or "the" means one or more elements when referring to element, unless the context clearly indicates otherwise.
Although discussed in detail above have been shown, be described and pointed out the novel feature for being applied to various embodiments,
It should be understood that the spirit that can not depart from the disclosure makes the form and details of shown logical block, module and process
It is various to omit, replace and change.As it will be realized, certain embodiments of the present invention described herein can not provide
Implement in all features set forth herein and the form of benefit because some features can be used separately with other features or
Implement.
Claims (26)
1. a kind of navigation system of cart for Manual-pushing, the navigation system include：
It is configurable for determining the magnetometer in the course of the cart of the Manual-pushing；
It is configurable for measuring the vibrating sensor of the vibration data of the cart of the Manual-pushing；
The communication system with the wheel communication of the cart of the Manual-pushing is configurable for, the wheel includes being configured as
Forbid the brake of the rotation of the wheel for the reception in response to locking signal；With
Hardware processor, the hardware processor are programmed to be used for：
The vibration data from the vibrating sensor is based at least partially on, to estimate the cart of the Manual-pushing
Speed；With
The course of the cart of the estimating speed and the Manual-pushing is based at least partially on, to estimate that the manpower pushes away
The position of dynamic cart.
2. navigation system as described in claim 1, wherein in order to be based at least partially on the institute from the vibrating sensor
Vibration data is stated to estimate the speed of the cart of the Manual-pushing, the hardware processor is programmed to for analyzing
State the frequency spectrum of vibration data.
3. navigation system as claimed in claim 2, wherein in order to analyze the frequency spectrum of the vibration data, at the hardware
Reason device is programmed to the first peak value in the frequency spectrum for identifying the vibration data, first peak value and and the people
Push travelling forward or move the associated vibration data backward and being associated for dynamic cart.
4. navigation system as claimed in claim 3, wherein in order to estimate the speed of the cart of the Manual-pushing, the hardware
Processor is programmed to be used for：
The speed of rotation of the wheel is determined as to the frequency of first peak value in the frequency spectrum of the vibration data
Harmonic frequency；With
Perimeter based on the speed of rotation and the wheel, estimates the speed.
5. navigation system as claimed in claim 4, wherein the hardware processor is programmed to be used for by shaking described in analysis
Dynamic frequency spectrum verifies the determined rotation speed at the harmonic frequency of first peak value with the presence or absence of the second peak value
Rate.
6. navigation system as claimed in claim 5, wherein the hardware processor is programmed to exist for analyzing the frequency spectrum
It whether there is second peak value at first odd harmonic frequencies of first peak value.
7. navigation system as described in claim 1, wherein the hardware processor is programmed to analyze the vibration number
Counting rule boundary on the surface passed through according to this in the cart of the Manual-pushing.
8. navigation system as described in claim 1, wherein the hardware processor is programmed to be based at least partially on
The estimated location determines whether the cart has passed past and goes along with sb. to guard him boundary, and is determined in response to described, by the locking signal
It is communicated to the wheel.
9. navigation system as described in claim 1, further include and be configurable for detection and represent the Manual-pushing respectively
Whether cart enters or leaves the entering signal in shop or leave the detector of signal.
10. navigation system as described in claim 1 further includes received signal strength indicator device (RSSI) detector, wherein institute
It states hardware processor and is programmed to RSSI signals for being based at least partially on measured, update the estimation of the cart
Position.
11. navigation system as described in claim 1 is further included and is configurable for from external radio frequency (RF) transmitter receipt RF
The RF receivers of signal, wherein the hardware processor is programmed to the RF signals for being based at least partially on received,
Update the estimated location of the cart.
12. navigation system as claimed in claim 11, wherein the hardware processor is programmed at least part ground
In the RF phase differences for using the RF signals estimation, the distance of the external RF transmitter is estimated.
13. navigation system as described in claim 1 further includes the temperature for being configurable for the temperature for measuring the magnetometer
Sensor, wherein the hardware processor is programmed to for being based at least partially on the temperature, to compensate the magnetometer
Temperature control.
14. navigation system as described in claim 1, wherein the magnetometer is configurable for providing multiple magnetic readings, and
And the hardware processor is programmed to for being based at least partially on the multiple magnetic reading and hard iron or soft iron calibrating patterns,
To calibrate the magnetometer.
15. navigation system as described in claim 1, wherein the hardware processor is further programmed to for receiving station
Configuration data, the site configuration data include and one or more associated information in following item：(1) boundary is gone along with sb. to guard him,
(2) entrance or outlet, the room area of (3) described website, the outdoor area of (4) described website, (5) have with special characteristics
The region on surface, (6) earth's magnetic field, (7) are by the amendment of the website or the magnetic structure near it to earth's magnetic field, (8) reference bit
The positioning put or (9) warning distance associated with going along with sb. to guard him boundary.
16. navigation system as described in claim 1, wherein the vibrating sensor includes accelerometer.
17. navigation system as described in claim 1, wherein the cart of the Manual-pushing includes handle, and the navigation
System is installed on the handle.
18. navigation system as claimed in claim 17, wherein the cart of the Manual-pushing includes shopping cart.
19. a kind of air navigation aid of cart for Manual-pushing, the air navigation aid include：
The magnetic heading of the cart of Manual-pushing described in magnetometer measures；
Measure the rumble spectrum undergone when the cart of the Manual-pushing is advanced on a surface；
The rumble spectrum is analyzed to determine the speed of rotation of the wheel of the cart of the Manual-pushing；
The speed of rotation of the wheel and the perimeter of the wheel are based at least partially on, estimates pushing away for the Manual-pushing
The speed of vehicle；With
The magnetic heading of the cart of the estimating speed and the measured Manual-pushing is based at least partially on, estimates institute
State the position of the cart of Manual-pushing.
20. air navigation aid as claimed in claim 19, wherein analyzing the rumble spectrum includes identification and the Manual-pushing
Cart travel forward or move the first peak value in the associated rumble spectrum backward.
21. air navigation aid as claimed in claim 20, wherein the speed of rotation of the wheel is confirmed as the vibration
The harmonic frequency of the frequency of first peak value in the frequency spectrum of data.
22. air navigation aid as claimed in claim 20 is further included by analyzing the rumble spectrum in first peak value
The determined speed of rotation is verified at the harmonic frequency with the presence or absence of the second peak value.
23. air navigation aid as claimed in claim 19, wherein analyzing the rumble spectrum is included in pushing away for the Manual-pushing
Garage into surface on counting rule boundary.
24. air navigation aid as claimed in claim 19, wherein the wheel includes being configurable for forbidding the wheel
The actuator of rotation, the method further include：
The estimated location is based at least partially on, determines whether the cart of the Manual-pushing has passed past and goes along with sb. to guard him boundary；And
In response to determining that the cart goes along with sb. to guard him boundary described in having passed past, brake signal is conveyed to activate the system in the wheel
Dynamic device.
25. air navigation aid as claimed in claim 19, further includes：
Measure the temperature of the magnetometer；And
Measured temperature is based at least partially on, to compensate the temperature control of the magnetometer.
26. air navigation aid as claimed in claim 19, further includes：
Multiple magnetic readings when the cart of Manual-pushing is advanced on said surface described in the magnetometer measures；And
The multiple magnetic reading and hard iron or soft iron calibrating patterns are based at least partially on, to calibrate the magnetometer.
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| US62/214561 | 2015-09-04 | ||
| PCT/US2016/050278 WO2017041045A1 (en) | 2015-09-04 | 2016-09-02 | Estimating motion of wheeled carts |
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| CN108137074A true CN108137074A (en) | 2018-06-08 |
| CN108137074B CN108137074B (en) | 2021-12-03 |
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|---|---|---|---|
| CN201680051260.9A Active CN108137074B (en) | 2015-09-04 | 2016-09-02 | Motion estimation for wheeled vehicles |
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| US (4) | US9731744B2 (en) |
| EP (1) | EP3344514B1 (en) |
| CN (1) | CN108137074B (en) |
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| WO (1) | WO2017041045A1 (en) |
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Also Published As
| Publication number | Publication date |
|---|---|
| EP3344514A1 (en) | 2018-07-11 |
| US20180178822A1 (en) | 2018-06-28 |
| EP3344514A4 (en) | 2019-09-11 |
| US20200372803A1 (en) | 2020-11-26 |
| CN108137074B (en) | 2021-12-03 |
| WO2017041045A1 (en) | 2017-03-09 |
| US20170066464A1 (en) | 2017-03-09 |
| US11183070B2 (en) | 2021-11-23 |
| US9731744B2 (en) | 2017-08-15 |
| US20220108617A1 (en) | 2022-04-07 |
| CA2996604A1 (en) | 2017-03-09 |
| US10546502B2 (en) | 2020-01-28 |
| EP3344514B1 (en) | 2020-11-11 |
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